A PC-BASED CONFIGURATION CONTROLLER FOR DEXTEROUS 7-DOF ARMS

Authors
FIORINI P SERAJI H LONG MK
Citation
P. Fiorini et al., A PC-BASED CONFIGURATION CONTROLLER FOR DEXTEROUS 7-DOF ARMS, IEEE robotics & automation magazine, 4(3), 1997, pp. 30-38
Citations number
15
Categorie Soggetti
Computer Sciences, Special Topics","Robotics & Automatic Control
Journal title
IEEE robotics & automation magazine → ACNP
ISSN journal
10709932
Volume
4
Issue
3
Year of publication
1997
Pages
30 - 38
Database
ISI
SICI code
1070-9932(1997)4:3<30:APCCFD>2.0.ZU;2-R
Abstract
This implementation of a Configuration Controller for a dexterous 7-DO F manipulator on an IBM-compatible personal computer represents a step toward high-performance robotic controllers designed with consumer el ectronics, The system has the capability for 3D graphical animation of the arm motion, which is performed on a separate single-board compute r interfaced to the PC, Several experiments have shown control perform ance comparable to that obtained with more expensive computing platfor ms.