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.
ASJC Scopus subject areas
- Hardware and Architecture
- Electrical and Electronic Engineering