Dynamic Computer Control of a Robot Leg

Abstract

A dynamic control scheme for a three degree-of-freedom robot leg, which has been interfaced to a PDP-11/70 minicomputer, is developed and implemented. A CSMP (Continuous System Modeling Program) simulation is also used to study the dynamic characteristics of the leg off-line. The results of the work show that the dynamic equations of motion are valuable in robotic systems to develop an appropriate control scheme, to determine suitable ranges of feedback gains, and to be used on-line to generate a feed-forward control input.