• DocumentCode
    860683
  • Title

    Collision-free control of a manipulator with a controller composed of sixty-four microprocessors

  • Author

    Kokaji, Shigeru

  • Author_Institution
    MITI, Ibaraki, Japan
  • Volume
    6
  • Issue
    5
  • fYear
    1986
  • fDate
    10/1/1986 12:00:00 AM
  • Firstpage
    9
  • Lastpage
    14
  • 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;
  • fLanguage
    English
  • Journal_Title
    Control Systems Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    0272-1708
  • Type

    jour

  • DOI
    10.1109/MCS.1986.1105116
  • Filename
    1105116
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=860683