DocumentCode
1205422
Title
Multi-microprocessor-based cartesian-space control techniques for a mechanical manipulator
Author
Liu, Chang-Huan ; Chen, Yen-Ming
Author_Institution
National Taiwan Institute of Technology, Taipei, Taiwan
Volume
2
Issue
2
fYear
1986
fDate
6/1/1986 12:00:00 AM
Firstpage
110
Lastpage
115
Abstract
A multi-microprocessor-based structure for controlling the manipulator motion in Cartesian space is presented. 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 realised using the proposed control structure.
Keywords
Multiprocessing; Robots; Automatic control; Cameras; Fourier transforms; Layout; Manipulators; Motion control; Power capacitors; Real time systems; Target tracking; Transducers;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/JRA.1986.1087041
Filename
1087041
Link To Document