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This article deals with the design and implementation of a flexible controller that is suitable for different types of robots and control algorithms. The flexible controller allows use of different control modes at the various joints of the robot and uses a multiprocessor architecture for the individual control of each joint. The DSP56001 digital signal processor serves as the master controller, executes control algorithms, and gives trajectory orders to each joint. The HCTL-1100 acts as the joint processor and is capable of operating in different modes, can be connected directly to an incremental optical encoder, provides the user with options to accommodate different specialized applications, and eliminates extra hardware.
Flexible controller, robot manipulator, multiprocessor architecture

A. L. Enriquez, M. M. Jamali and A. H. Eltimsahy, "Flexible Control for Robot Manipulators," in IEEE Micro, vol. 15, no. , pp. 55-60, 1995.
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