{"title":"开发了一种基于pc机的机械手控制算法","authors":"P. Burroughs, J. Parker","doi":"10.1109/SSST.1993.522801","DOIUrl":null,"url":null,"abstract":"A force-position control algorithm is used with a two-degree-of-freedom robot hand to simultaneously control the position of an object and the applied grasping force. This original implementation of this control algorithm was limited to a 60-Hz sampling rate. A direct conversion of the original implementation of the algorithm to the C language provided a small speed increase. Detailed profiling tests of functional blocks indicated that the exclusive use of integer calculations, avoidance of integer division, and the use of look-up tables provided the most efficient operation. The final C version of the algorithm resulted in sampling rates of 400/500 Hz (with/without data storage for postprocessing). A special version of the program increased the sampling rates to 625/770 Hz (with/without data storage).","PeriodicalId":260036,"journal":{"name":"1993 (25th) Southeastern Symposium on System Theory","volume":"283 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Development of a PC-based robot hand control algorithm\",\"authors\":\"P. Burroughs, J. Parker\",\"doi\":\"10.1109/SSST.1993.522801\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A force-position control algorithm is used with a two-degree-of-freedom robot hand to simultaneously control the position of an object and the applied grasping force. This original implementation of this control algorithm was limited to a 60-Hz sampling rate. A direct conversion of the original implementation of the algorithm to the C language provided a small speed increase. Detailed profiling tests of functional blocks indicated that the exclusive use of integer calculations, avoidance of integer division, and the use of look-up tables provided the most efficient operation. The final C version of the algorithm resulted in sampling rates of 400/500 Hz (with/without data storage for postprocessing). A special version of the program increased the sampling rates to 625/770 Hz (with/without data storage).\",\"PeriodicalId\":260036,\"journal\":{\"name\":\"1993 (25th) Southeastern Symposium on System Theory\",\"volume\":\"283 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1993-03-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1993 (25th) Southeastern Symposium on System Theory\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SSST.1993.522801\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1993 (25th) Southeastern Symposium on System Theory","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SSST.1993.522801","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Development of a PC-based robot hand control algorithm
A force-position control algorithm is used with a two-degree-of-freedom robot hand to simultaneously control the position of an object and the applied grasping force. This original implementation of this control algorithm was limited to a 60-Hz sampling rate. A direct conversion of the original implementation of the algorithm to the C language provided a small speed increase. Detailed profiling tests of functional blocks indicated that the exclusive use of integer calculations, avoidance of integer division, and the use of look-up tables provided the most efficient operation. The final C version of the algorithm resulted in sampling rates of 400/500 Hz (with/without data storage for postprocessing). A special version of the program increased the sampling rates to 625/770 Hz (with/without data storage).
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