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
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Cite this
Kabuka, M. R., Glaskowsky, P. N., & Miranda, J. (1988). Microcontroller-Based Architecture for Control of a Six Joints Robot Arm. IEEE Transactions on Industrial Electronics, 35(2), 217-221. https://doi.org/10.1109/41.192652