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
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;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087561
