Microcontroller-Based Architecture for Control of a Six Joints Robot Arm

IEEE Transactions on Industrial Electronics

Volumn 35, Issue 2, 1988, Pages 217-221

  Kabuka, Mansur R ^a   Glaskowsky, Peter N ^a   Miranda, Juan ^a  

^a UNIVERSITY OF MIAMI   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTERS, MICROCOMPUTER; CONTROL SYSTEMS - COMPUTER INTERFACES; SIGNAL PROCESSING;

ARM TRAJECTORY; FLOATING-POINT SIGNAL PROCESSORS; MICROCONTROLLER-BASED ARCHITECTURE; NEWTON-EULER EQUATIONS; SIX JOINTS ROBOT ARM;

ROBOTS, INDUSTRIAL;

EID: 0024015074     PISSN: 02780046     EISSN: 15579948     Source Type: Journal    
DOI: 10.1109/41.192652     Document Type: Article

References (5)

1. C. S. G. Lee, T. N. Mudge, and J. L. Turney, “Hierarchical control structure using special purpose processors for the control of robot arms,” in Proc. Pattern Recognition Image Processing Conf., 1982.
2. R. Nigam and C. S. G. Lee, “A multiprocessor-based controller for the control of mechanical manipulators,” IEEE J. Robotics Automation, vol. RA-1, no. 4, Dec. 1985.
3. H. Kasahara and S. Narita, “Parallel processing of robot-arm control computation on a multimicroprocessor system,” IEEE J. Robotics Automation, vol. 1, no. 2, June 1985.
4. J. Y. S. Luh and C. S. Lin, “Scheduling of parallel computation for a computer-controlled mechanical manipulator,” IEEE Trans. Syst., Man, Cybern., vol. 12, no. 2, Mar./Apr. 1982.
5. S. Ahmad, “Real-time multiprocessor based robot control,” in Proc. IEEE Int. Conf. Robotics Automation, vol. 2, pp. 858-863, Apr. 1986.