A PC Simulation Program for Comparing Performances of Robot Control Algorithms

  • J. O’Shea
  • R. Benali
Part of the Microprocessor-Based Systems Engineering book series (ISCA, volume 6)


In order to compare the performances of robot control algorithms, a benchmark test, based on the Puma 560 tracing straight line trajectories, is proposed. For simulating that test with a personal computer, subroutines of a program written in Pascal are described and their listings are supplied. Tests of some robot control algorithms serve as examples.


Control Algorithm Inverse Kinematic Joint Position Joint Velocity Robot Controller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Science+Business Media Dordrecht 1991

Authors and Affiliations

  • J. O’Shea
    • 1
  • R. Benali
    • 1
  1. 1.Ecole Polytechnique de MontréalMontrealCanada

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