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<p>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.</p>
"Real-Time Implementation of the Newton-Euler Equations of Motion on the NEC mu PD77230 DSP", IEEE Micro, vol. 9, no. , pp. 66-76, January/February 1989, doi:10.1109/40.16795
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