An application of real-time control systems to robotics

摘要

This paper illustrates basic concepts of real-time control systems through the application of a real-time single-processor computing environment for the control of a robotic arm. The paper describes elements for the selection of the real-time architecture, the control algorithm and the graphical user interface. The system provides an opportunity for users to verify the robot performance by changing on-line the controller parameters and the shape of the desired motion.