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 |
|---|---|
| Pages (from-to) | 217-221 |
| Number of pages | 5 |
| Journal | IEEE transactions on industrial electronics and control instrumentation |
| Volume | 35 |
| Issue number | 2 |
| State | Published - May 1 1988 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
MICROCONTROLLER-BASED ARCHITECTURE FOR CONTROL OF A SIX JOINTS ROBOT ARM. / Kabuka, Mansur R.; Glaskowsky, Peter N.; Miranda, Juan.
In: IEEE transactions on industrial electronics and control instrumentation, Vol. 35, No. 2, 01.05.1988, p. 217-221.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - MICROCONTROLLER-BASED ARCHITECTURE FOR CONTROL OF A SIX JOINTS ROBOT ARM.
AU - Kabuka, Mansur R.
AU - Glaskowsky, Peter N.
AU - Miranda, Juan
PY - 1988/5/1
Y1 - 1988/5/1
N2 - 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.
AB - 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.
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UR - http://www.scopus.com/inward/citedby.url?scp=0024015074&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:0024015074
VL - 35
SP - 217
EP - 221
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 2
ER -