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Multi-microprocessor-based cartesian-space control techniques for a mechanical manipulator

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2 Author(s)
Chang-Huan Liu ; National Taiwan Institute of Technology, Taipei, Taiwan ; Chen, Yen-Ming

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.

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Robotics and Automation, IEEE Journal of  (Volume:2 ,  Issue: 2 )