Realtime Implementation of the Newton-Euler Equations > < q of Motion on the NEC PD77230 DSP

Mansur Kabuka, Rodrigo Escoto

Research output: Contribution to journalArticle

5 Scopus citations

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

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture
  • Electrical and Electronic Engineering

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