Publication
Towards the real-time control of robotic systems
| dc.contributor.author | Tenreiro Machado, J. A. | |
| dc.contributor.author | Carvalho, J. L. Martins de | |
| dc.contributor.author | Galhano, Alexandra | |
| dc.date.accessioned | 2019-03-26T16:04:02Z | |
| dc.date.available | 2019-03-26T16:04:02Z | |
| dc.date.issued | 1991 | |
| dc.description.abstract | In the last decades robot control has been an area of active research and development. Mechanical manipulators have a complex dynamics which makes difficult the design efficient controllers. Linear PID algorithms are still used in industrial robotics however, they are inappropriate for high performances. The limited efficiency of these systems motivated the development of controllers based on different concepts Dubwsky and DesForges (1), Luh e tal. (2), Freund (3). Nevertheless, the high computational load posed by many of the modern algorithms precludes its industrial application using present day microcomputers. In fact, the use of powerful monoprocessor computers is expensive while, on the other hand, multi-microprocessor architectures Luh and Lin (4), Binder and Herzog (5), Watanabe et al. (6) are still in a research stage. This situation can be overcome through the development of control strategies more adapted to the microcomputer. In this line of thought, this article compares the computational capabilities of several computers and introduces techniques capable of rendering more efficient practical implementations. It is organized as follows. In section two we evaluate the computational load posed by different operations to several computer systems. Based on the results, in section three, we present general techniques amenable to robot control implementation. Finally, in section four conclusions are drawn. | pt_PT |
| dc.description.version | N/A | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/13155 | |
| dc.language.iso | eng | pt_PT |
| dc.title | Towards the real-time control of robotic systems | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.citation.endPage | 8 | pt_PT |
| oaire.citation.startPage | 1 | pt_PT |
| oaire.citation.title | Internacional conference control 91 | pt_PT |
| person.familyName | Tenreiro Machado | |
| person.familyName | Galhano | |
| person.givenName | J. A. | |
| person.givenName | Alexandra | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.orcid | 0000-0001-8262-1369 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| person.identifier.scopus-author-id | 6603868968 | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
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