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Analysis of the computed torque drive method and comparison with conventional position servo for a computer-controlled manipulatorA 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.
Document ID
19730012471
Document Type
Contractor Report (CR)
Authors
Markiewicz, B. R. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
September 2, 2013
Publication Date
March 15, 1973
Subject Category
COMPUTERS
Report/Patent Number
JPL-TM-33-601
NASA-CR-131521
Funding Number(s)
CONTRACT_GRANT: NAS7-100
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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NameType 19730012471.pdf STI