Using the Newton simulation system as a testbed for control

J.F Cremer; A.J Stewart

doi:10.1109/ISIC.1988.65465

Back

Conference proceeding

Using the Newton simulation system as a testbed for control

J.F Cremer and A.J Stewart

Proceedings IEEE International Symposium on Intelligent Control 1988, pp.399-404

1988

DOI: 10.1109/ISIC.1988.65465

View Online

Abstract

The use of the Newton system for experimenting with the control of many-degrees-of-freedom articulated objects is described. Newton is a large general-purpose system for simulating the dynamics of complex physical objects. The system automatically formulates and analyzes the dynamics equations of motion for collections of bodies in a wide variety of constrained relationships. An experimental control paradigm is presented and applied to the balancing of a humanoid figure and the endpoint-control of redundant robot arm.< >

Algorithm design and analysis

Automatic control

Computational modeling

Computer science

Equations

Mechanical systems

Prototypes

Robots

Solid modeling

System testing

Details

Title: Subtitle: Using the Newton simulation system as a testbed for control
Creators: J.F Cremer - Cornell University
A.J Stewart - Cornell University
Resource Type: Conference proceeding
Publication Details: Proceedings IEEE International Symposium on Intelligent Control 1988, pp.399-404
Publisher: IEEE Comput. Soc. Press
DOI: 10.1109/ISIC.1988.65465
ISSN: 2158-9860
eISSN: 2158-9879
Language: English
Date published: 1988
Academic Unit: Computer Science
Record Identifier: 9984259477302771

Metrics

13 Record Views