Sensor Based Control of Robotic Mechanisms

Abstract

This report provides a detailed account of equipment purchases made under a DoD University Research Instrumentation Grant (AFOSR-89-0135). The equipment includes a Silicon Graphics IRIS 4D/120GTX workstation and a variety of hardware components which have been selected as components of real-time server network designed to support a graphical interface to experiments in the control of mechanical systems. A brief description is provided of the resulting hardware implementation and its use in controlling three different experimental systems-a flexible beam, a rotating kinematic chain, and a six axis industrial robot. A detailed breakdown of expenditures is provided.

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Document Details

Document Type
Technical Report
Publication Date
Aug 15, 1990
Accession Number
ADA226784

Entities

People

  • John Baillieul

Organizations

  • Boston University

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Materials and Manufacturing Processes
  • Space

DTIC Thesaurus Topics

  • Compilers
  • Computer Programming
  • Computers
  • Device Drivers
  • Engineering
  • Graphics
  • Host Computers
  • Instrumentation
  • Language
  • Manufacturing
  • Parallel Computing
  • Parallel Processing
  • Research Facilities
  • Software Development
  • Software Testing
  • Three Dimensional
  • Universities

Fields of Study

  • Physics

Readers

  • Database Systems and Applications
  • Industrial Economics
  • Technical Research and Report Writing.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control