Microcontroller-based architecture for control of a six joint robot arm

Author

Kabuka, Mansur R. ; Glaskowsky, Peter N. ; Miranda, Juan

Author_Institution

Dept. of Electr. & Comput. Eng., Miami Univ., Coral Gables, FL, USA

Volume

35

Issue

2

fYear

1988

fDate

5/1/1988 12:00:00 AM

Firstpage

217

Lastpage

221

Abstract

A robot arm controller has been developed with a dual emphasis on performance and flexibility. It includes a general-purpose interface for a host microcomputer, and can be configured with up to two floating-point signal processors. The controller responds to high-level control commands from the host, computes the arm trajectory, and corrects motion errors in real-time using Newton-Euler equations. By relieving the host computer of all computational requirements, this controller design permits one host to control multiple robot arms while maintaining maximum performance

Keywords

computerised control; microprocessor chips; position control; robots; Newton-Euler equations; arm trajectory; floating-point signal processors; high-level control commands; interface; microcomputer; microcontroller-based architecture; motion errors correction; real-time; six joint robot arm; Computer architecture; Equations; Hardware; Manipulator dynamics; Microcomputers; Motion control; Robot control; Robot kinematics; Torque control; Velocity control;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.192652

Filename

192652