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.