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A PC based configuration controller for dexterous 7-DOF arms

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3 Author(s)
Fiorini, P. ; Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA ; Seraji, H. ; Long, M.

This implementation of a configuration controller for a dexterous 7-DOF manipulator on an IBM-compatible personal computer represents a step toward high-performance robotic controllers designed with consumer electronics. The system has the capability for 3D graphical animation of the arm motion, which is performed on a separate single-board computer interfaced to the PC. Several experiments have shown the control performance comparable to that obtained with more expensive computing platforms

Published in:

Robotics & Automation Magazine, IEEE  (Volume:4 ,  Issue: 3 )