Flexible control for robot manipulators

Author

Enriquez, Angel L. ; Eltimsahy, Adel H. ; Jamali, Mohsin M.

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Toledo Univ., OH, USA

Volume

15

Issue

6

fYear

1995

fDate

12/1/1995 12:00:00 AM

Firstpage

55

Lastpage

60

Abstract

We designed, implemented, and tested a real-time flexible controller for manipulating different types of robots and control algorithms. The robot-independent, IBM PC-based multiprocessor system contains a DSP56001 master controller, six independent HCTL-1100 joint processors for accurate robotic joint control, and an interface computer board for processor communication. The joint processors operate in four user-defined modes and can be connected directly to an incremental optical encoder, which accommodates specialized applications and eliminates extra hardware

Keywords

flexible manufacturing systems; industrial manipulators; robots; DSP56001 master controller; HCTL-1100 joint processors; IBM PC-based multiprocessor system; control algorithms; flexible control; incremental optical encoder; interface computer board; processor communication; real-time flexible controller; robot manipulators; robotic joint control; Algorithm design and analysis; Application software; Communication system control; Computer interfaces; Control systems; Hardware; Manipulators; Multiprocessing systems; Robot control; Testing;

fLanguage

English

Journal_Title

Micro, IEEE

Publisher

ieee

ISSN

0272-1732

Type

jour

DOI

10.1109/40.476259

Filename

476259