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Real-time implementation of the Newton-Euler equations of motion on the NEC mu PD77230 DSP

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2 Author(s)
Kabuka, M. ; Dept. of Electr. & Comput. Eng., Miami Univ., Coral Gables, FL, USA ; Escoto, R.

A methodology for implementing the Newton-Euler (NE) equations of motion on the mu PD77230 signal processor is presented. The targeted application is the control of robot arms, with a dual emphasis on performance and flexibility. The controller interprets high-level control commands and performs required computations without host intervention. The design objective was a relatively inexpensive host computer to control multiple robot arms without substantial programming or computational overhead. An option is provided for dividing torque computation into parallel tasks for improved speed.<>

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Micro, IEEE  (Volume:9 ,  Issue: 1 )