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 language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||3|
|State||Published - Jan 1 1988|
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