Multi-microprocessor-based cartesian-space control techniques for a mechanical manipulator
- 1 June 1986
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 2 (2) , 110-115
- https://doi.org/10.1109/jra.1986.1087041
Abstract
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.Keywords
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