Title :
Multi-microprocessor-based cartesian-space control techniques for a mechanical manipulator
Author :
Liu, Chang-Huan ; Chen, Yen-Ming
Author_Institution :
National Taiwan Institute of Technology, Taipei, Taiwan
fDate :
6/1/1986 12:00:00 AM
Abstract :
A multi-microprocessor-based structure for controlling the manipulator motion in Cartesian space is presented. The objective is to investigate the feasibility of implementing hand-based control laws using present day microprocessors. computational complexity analysis indicates that the control schemes involving full inverse-kinematics and inverse-dynamics computations can be realised using the proposed control structure.
Keywords :
Multiprocessing; Robots; Automatic control; Cameras; Fourier transforms; Layout; Manipulators; Motion control; Power capacitors; Real time systems; Target tracking; Transducers;
Journal_Title :
Robotics and Automation, IEEE Journal of
DOI :
10.1109/JRA.1986.1087041
