Real-time implementation of the Newton-Euler equations of motion on the NEC μPD77230 DSP

Mansur R. Kabuka, Rodrigo Escoto

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

A methodology for implementing the Newton-Euler (NE) equations of motion on the μPD77230 signal processor is presented. The targeted application is the control of robot arms, with a dual emphasis on performance and flexibility. The controller interprets high-level control commands and performs required computations without host intervention. The design objective was a relatively inexpensive host computer to control multiple robot arms without substantial programming or computational overhead. An option is provided for dividing torque computation into parallel tasks for improved speed.

Original languageEnglish
Pages (from-to)66-76
Number of pages11
JournalIEEE Micro
Volume9
Issue number1
DOIs
StatePublished - Feb 1 1989

Fingerprint

Euler equations
Equations of motion
Robots
Level control
Computer programming
Torque
Controllers

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Hardware and Architecture
  • Software

Cite this

Real-time implementation of the Newton-Euler equations of motion on the NEC μPD77230 DSP. / Kabuka, Mansur R.; Escoto, Rodrigo.

In: IEEE Micro, Vol. 9, No. 1, 01.02.1989, p. 66-76.

Research output: Contribution to journalArticle

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