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Analysis of the computed torque drive method and comparison with conventional position servo for a computer-controlled manipulator

Author
Markiewicz, B. R.
Published
Mar 15, 1973.
Physical Description
1 electronic document
Online Version

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Unclassified, Unlimited, Publicly available.
Free-to-read Unrestricted online access
Summary
A manipulator and its control system (modeled after a Stanford design) is being developed as part of an artificial intelligence project. This development includes an analytical study of the control system software. A comparison is presented of the computed torque method and the conventional position servo. No conclusion is made as to the perference of one system over the other, as it is dependent upon the application and the results of a sampled data analysis.
Other Subject(s)
Collection
NASA Technical Reports Server (NTRS) Collection.
Note
Document ID: 19730012471.
Accession ID: 73N21198.
JPL-TM-33-601.
NASA-CR-131521.
Terms of Use and Reproduction
No Copyright.
View MARC record | catkey: 15749715