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|Title:||Unified force and motion control using an open system real-time architecture on a 7 DOF PA-10 robot|
Ang Jr., M.H.
|Source:||Lim, T.M.,Xia, Q.H.,Ang Jr., M.H.,Lim, S.Y. (2005). Unified force and motion control using an open system real-time architecture on a 7 DOF PA-10 robot. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2 : 1523-1528. ScholarBank@NUS Repository.|
|Abstract:||The operational space formulation provides a framework for the analysis and control of robotic systems with respect to interactions with their environments. Using the modified PA-10, we implemented unified force and motion control to achieve force and position tracking. Impact control algorithm has also been implemented to remove oscillation when the end-effector comes into contact with stiff environment. The control algorithm uses a PC to perform the required complex realtime computation. Coupled with the modification to the PA-10 controller, we are able to achieve high sampling rates with minimum communication latency which is crucial for our application. A software architecture was also developed which uses the concept of device drivers to achieve modularity in a realtime subsystem environment. © 2005 IEEE.|
|Source Title:||IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM|
|Appears in Collections:||Staff Publications|
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