Using the WAM as a master controller

1st Joint Emergency Preparedness and Response/Robotic and Remote Systems Topical Meeting

Volumn 2006, Issue , 2006, Pages 538-544

  Zhou, Renbin ^a   Hamel, William R ^a   Hariharan, A S ^a   Noakes, Mark W ^b  

^a UNIVERSITY OF TENNESSEE   (United States)

^b OAK RIDGE NATIONAL LABORATORY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

REAL TIME CONTROL SYSTEMS; SINGULAR VALUE COMPOSITION (SVD); VELOCITY MAPPING; WHOLE ARM MANIPULATORS;

CONFORMAL MAPPING; LOCAL AREA NETWORKS; MANIPULATORS; POSITION CONTROL; REAL TIME SYSTEMS; VELOCITY MEASUREMENT;

ROBOTIC ARMS;

EID: 33846038720     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

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3. Ip, B. Performance analysis of VxWorks and RTLinux. in the First Embedded Software Contest. 2003. Korea.
4. Proctor, F.M. and W.P. Shackleford. Real time operating system timing jitter and its impact on motor control, in SPIE Conference on Sensors and Controls for Intelligent Manufacturing. 2001. Wuhan, China: SPIE.
5. Nakamura, Y. and H. Hanafusa, Inverse kinematic solutions with singularity robustness for robot manipulator. Journal of Dynamic systems, measurement, and control, 1986(108): p. 163-171.
6. Schreiber, G., M. Otter, and G. Hirzinger. Solving the singularity problem of non-redundant manipulators by constraint optimization, in IEEE, Conference on Intelligent Robots and Systems. 1999. Kyongju, Korea.
7. English, J.D. and A.A. Maciejewski, On the implementation of velocity control for kinematically redundant manipulators. IEEE transactions on systems, man, and cybernetics, 2000. 30(3): p. 233-237.