Title :
A PC based configuration controller for dexterous 7-DOF arms
Author :
Fiorini, P. ; Seraji, Homayoun ; Long, Mark
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
This implementation of a configuration controller for a dexterous 7-DOF manipulator on an IBM-compatible personal computer represents a step toward high-performance robotic controllers designed with consumer electronics. The system has the capability for 3D graphical animation of the arm motion, which is performed on a separate single-board computer interfaced to the PC. Several experiments have shown the control performance comparable to that obtained with more expensive computing platforms.
Keywords :
computer animation; computerised control; force control; graphical user interfaces; manipulator dynamics; microcomputer applications; motion control; 3D graphical animation; 7-DOF robotic arms; configuration controller; dexterous manipulator; force control; motion control; personal computer; user interface; Computer interfaces; Control systems; Force control; High performance computing; Laboratories; Manipulators; Microcomputers; Motion control; Open loop systems; Robot control;
Journal_Title :
Robotics & Automation Magazine, IEEE
