Zalzala, Ali. M.S. and Morris, A.S. (1989) Real-Time Robot Motion: The VLSI Implementation Via Transputers. Research Report. Acse Report 364 . Dept of Automatic Control and System Engineering. University of Sheffield
Abstract
An on-line trajectory generator has been implemented for the control of robot manipulators. The computational complexities associated with such a task have been reduced significantly through distributing it on a multiprocessor system, where the minimum-time motion of the robot is planned in real-time. In particular, the distributed structure employing the transputer machines emphasise the practicality and efficiency of the proposed system. Simulation results of a case study are presented for puma 560 robot manipulator.
Metadata
Item Type: | Monograph |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports |
Depositing User: | MRS ALISON THERESA BARNETT |
Date Deposited: | 20 Mar 2014 12:53 |
Last Modified: | 25 Oct 2016 07:58 |
Status: | Published |
Publisher: | Dept of Automatic Control and System Engineering. University of Sheffield |
Series Name: | Acse Report 364 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:78208 |