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Design and development of an embedded controller for roboticmanipulator

Bakhashwain, J.M. and Shewhdi, M.H. and Negm, M.M.M. and Mohseni, S. (1998) Design and development of an embedded controller for roboticmanipulator. Industry Applications Conference, 1998. Thirty-Third IAS Annual Meeting. The 1998 IEEE, 3.

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Abstract

An embedded controller is designed to generate the control law for robotic manipulators. Since the manipulator speed is limited by the mechanical constraints of the robot arm, the system's throughout should be optimized for generation of the required control law based on the data received from the robot's position sensors. Mohseni's Proposed Algorithm, MPA, has been incorporated into the embedded controller to reduce the computational efforts and to obtain a close-to-optimal control law. MPA is capable of determining a simplified control law by selecting the most dominant terms from a library of nonlinear functions associated with the robot's equations of motion. The embedded controller is microprocessor based, which provides the designer with the advantage of using a highly-integrated processor and the ability to develop the software needed



Item Type:Article
Date:October 1998
Date Type:Publication
Subjects:Computer
Divisions:College Of Engineering Sciences > Electrical Engineering Dept
Creators:Bakhashwain, J.M. and Shewhdi, M.H. and Negm, M.M.M. and Mohseni, S.
ID Code:14765
Deposited By:KFUPM ePrints Admin
Deposited On:24 Jun 2008 16:48
Last Modified:12 Apr 2011 13:17

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