Abstract
A robot arm controller has been 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) |
---|---|
Pages (from-to) | 217-221 |
Number of pages | 5 |
Journal | IEEE Transactions on Industrial Electronics |
Volume | 35 |
Issue number | 2 |
DOIs | |
State | Published - May 1988 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering