DocumentCode
2534275
Title
Multimicroprocessor-based cartesian space control techniques for a mechanical manipulator
Author
Liu, C.H. ; Chen, Y.-M.
Author_Institution
National Taiwan Institute of Technology, Taipei, Taiwan
Volume
3
fYear
1986
fDate
31503
Firstpage
823
Lastpage
827
Abstract
This paper presents a multimicroprocessor-based structure for controlling the manipulator motion in Cartesian space. 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 realized using the proposed control structure.
Keywords
Acceleration; Computational complexity; Error correction; Kinematics; Manipulator dynamics; Manufacturing; Microprocessors; Motion control; Space exploration; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087561
Filename
1087561
Link To Document