Development of a Robot Control Test Platform

IEEE Robotics and Automation Magazine

Volumn 2, Issue 4, 1995, Pages 21-28

  Mills, James K ^a   Baines, Phillip ^b   Chang, Thomas ^a   Chew, Steven ^a   Junes, Trevor ^c   Lam, Stephen ^a   Rabadi, Adi ^c  

^a UNIVERSITY OF TORONTO   (Canada)

^b SPAR Aerospace Ltd ^*

^c CRS Robotics Corp   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; COMPUTER SOFTWARE; CONTROL SYSTEMS; DATA ACQUISITION; DISPLAY DEVICES; GRAPHICAL USER INTERFACES; MICE (COMPUTER PERIPHERALS); PARAMETER ESTIMATION; RETROFITTING; ROBOTICS; SYSTEMS ENGINEERING; TORQUE CONTROL;

CONTROL STRATEGY; ROBOT CONTROL TEST PLATFORM; ROBOT REENGINEERING; SOFTWARE SELECTABLE SWITCHES;

ROBOTS;

EID: 0029543278     PISSN: 10709932     EISSN: None     Source Type: Journal    
DOI: 10.1109/100.476626     Document Type: Article

References (9)

1. Asada, H. and Youcef-Toumi, K., Direct-Drive Robots: Theory and Practise, MIT Press, Cambridge, MA, 1987.
2. Baines, P., Implementation of Force Control on a Light Industrial Robot, M. Eng. Thesis, Department of Mechanical Engineering, University of Toronto, November, 1994.
3. Freund, E., “Fast Nonlinear Control With Arbitrary Pole-Placement for Industrial Robots and Manipulators,” Int. J. of Robotics Research, Vol. 1., No. 1, pp. 65-78,1982.
4. Hashimoto, M., Kiyosawa, Y., Paul, R.P., and Hirabayashi, H., “A Joint Torque Sensing Technique for Robots With Harmonic Drives,” Proc. of 1991 IEEE Int. Conf. on Robotics and Automation, pp. 1034-1039, 1991.
5. Kazerooni, H., “Instrumentated Harmonic Drives For Compliant Manoeuvres,” Proc. of 1991 IEEE Int. Conf. on Robotics and Automation, 1991.
6. Klafter, R.D., Chmielewski, T.A., and Negin, M., Robotic Engineering An Integrated Approach, Prentice Hall, Englewood Cliffs, New Jersey, 1989.
7. Luh, J.Y.S., Fisher, W.D., and Paul, R.P., “Joint Torque Control by a Direct Feedback for Industrial Robots,” IEEE Trans, on Automatic Control, Vol. AC-28, No. 2, pp. 153-161, February, 1983.
8. Rabadi, A., DC Motor-Harmonic Drive Torque Control with Applications to Robot Joints. M.A.Sc. Thesis, Department of Mechanical Engineering, University of Toronto, 1993.
9. Spong, M.W., and Vidyasagar, M., Robot Dynamics and Control, John Wiley and Sons, New York, New York, 1989.