Title :
A flexible high performance robot arm controller
Author :
Kabuka, M. ; Glaskowski, P. ; Miranda, J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Miami Univ., Coral Galbes, FL, USA
Abstract :
A robot arm controller was developed with a dual emphasis on performance and flexibility. It includes a general-purpose interface for a host microcomputer, and can be configured with up to two floating-point signal processors. The controller responds to high-level control commands from the host, computes the arm trajectory, and corrects motion errors in real time using Newton-Euler equations. By relieving the host computer of all computational requirements, this controller design permits one host to control multiple robot arms while maintaining maximum performance
Keywords :
computerised control; control system synthesis; robots; Newton-Euler; arm trajectory; design; flexible robot arm controller; floating-point signal processors; interface; motion error correction; multiple robot arms; real time; Computer architecture; Equations; Error correction; Hardware; Manipulator dynamics; Microcomputers; Motion control; Robot control; Robot kinematics; Signal processing;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12124
