Microcontroller-based architecture for control of a six joint robotarm
Kabuka, M.R.; Glaskowsky, P.N.; Miranda, J.
Industrial Electronics, IEEE Transactions on
Volume 35, Issue 2, May 1988 Page(s):217 - 221
Digital Object Identifier   10.1109/41.192652
Summary: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

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