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.
|Number of pages||5|
|Journal||IEEE transactions on industrial electronics and control instrumentation|
|State||Published - May 1 1988|
ASJC Scopus subject areas
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