Microcontroller-Based Architecture for Control of a Six Joints Robot Arm

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

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


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 (US)
Pages (from-to)217-221
Number of pages5
JournalIEEE Transactions on Industrial Electronics
Issue number2
StatePublished - May 1988

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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