FLEXIBLE HIGH PERFORMANCE ROBOT ARM CONTROLLER.

M. Kabuka, P. Glaskowski, J. Miranda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A robot arm controller was developed with a dual emphasis on performance and flexibility. It includes a general-purpose interface for a host microcomputer, and can be configured with up to two floating-point signal processors. The controller responds to high-level control commands from the host, computes the arm trajectory, and corrects motion errors in real time using Newton-Euler equations. By relieving the host computer of all computational requirements, this controller design permits one host to control multiple robot arms while maintaining maximum performance.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages630-632
Number of pages3
ISBN (Print)0818608528
StatePublished - Jan 1 1988

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Kabuka, M., Glaskowski, P., & Miranda, J. (1988). FLEXIBLE HIGH PERFORMANCE ROBOT ARM CONTROLLER. In Unknown Host Publication Title (pp. 630-632). IEEE.