MICROCONTROLLER-BASED ARCHITECTURE FOR CONTROL OF A SIX JOINTS ROBOT ARM.

Mansur R. Kabuka, Peter N. Glaskowsky, Juan Miranda

Research output: Contribution to journalArticle

9 Citations (Scopus)

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 languageEnglish
Pages (from-to)217-221
Number of pages5
JournalIEEE transactions on industrial electronics and control instrumentation
Volume35
Issue number2
StatePublished - May 1 1988

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Microcontrollers
Robots
Controllers
Level control
Euler equations
Microcomputers
Interfaces (computer)
Trajectories

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 journalArticle

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