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

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

doi:10.1109/41.192652

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

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

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

9 Scopus citations

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	https://doi.org/10.1109/41.192652
State	Published - May 1988

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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