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Flexible control for robot manipulators

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3 Author(s)
A. L. Enriquez ; Dept. of Electr. Eng. & Comput. Sci., Toledo Univ., OH, USA ; A. H. Eltimsahy ; M. M. Jamali

We designed, implemented, and tested a real-time flexible controller for manipulating different types of robots and control algorithms. The robot-independent, IBM PC-based multiprocessor system contains a DSP56001 master controller, six independent HCTL-1100 joint processors for accurate robotic joint control, and an interface computer board for processor communication. The joint processors operate in four user-defined modes and can be connected directly to an incremental optical encoder, which accommodates specialized applications and eliminates extra hardware

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IEEE Micro  (Volume:15 ,  Issue: 6 )