• DocumentCode
    1490646
  • 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
  • Volume
    4
  • Issue
    3
  • fYear
    1997
  • Firstpage
    30
  • Lastpage
    38
  • 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;
  • fLanguage
    English
  • Journal_Title
    Robotics & Automation Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    1070-9932
  • Type

    jour

  • DOI
    10.1109/100.618021
  • Filename
    618021
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1490646