Sensor Based Control of Robotic Mechanisms

摘要

This report provides a detailed account of equipment purchases made under a DoDUniversity 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. (rh)