Abstract
The analysis and synthesis of a general control system for manipulator robots is considered within the framework of automatic task programming. The treatment of this problem is usually limited to the generation of trajectories on minicomputers. The theoretical and functional approach developed in the article leads to the generalization and application of the principle of coordination to attain three objectives: to make the reference origin and grip center coincide, to extend control to force regulation, and to implement an application on microprocessor configuration.
| Translated title of the contribution | Fast Control Implanted on a Microprocessor for MA 23 Manipulator. |
|---|---|
| Original language | French |
| Pages (from-to) | 48-53 |
| Number of pages | 6 |
| Journal | Le Nouvel automatisme |
| Volume | 27 |
| Issue number | 27 |
| State | Published - 1982 |
ASJC Scopus subject areas
- General Engineering
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