Title :
Collision-free control of a manipulator with a controller composed of sixty-four microprocessors
Author_Institution :
MITI, Ibaraki, Japan
fDate :
10/1/1986 12:00:00 AM
Abstract :
A collision-free control method is developed for an articulated manipulator. The control method is implemented on a parallel-processing system composed of 64 microprocessor units. The manipulator moves in three-dimensional space, and obstacles can be set at any position or can be moving. On-line control is accomplished by parallel processing.
Keywords :
Microcomputer networks; Robots; Collision avoidance; Control systems; Job shop scheduling; Manipulator dynamics; Microprocessors; Parallel processing; Process control; Solid modeling;
Journal_Title :
Control Systems Magazine, IEEE
DOI :
10.1109/MCS.1986.1105116
