Search Results

This paper proposes design of a microprocessor-based controller for motion control of an n-degree of freedom robotics manipulator. Since the manipulator motion control problem is the problem of finding appropriate torques that will drive the actuators in order for the manipulator to follow a pre-specified trajectory. A microprocessor-based controller is designed to generate these torques based on two controllers. The first controller is an embedded controller while the other is the optimal preview controller. Since the manipulator speed is limited by the mechanical constraints of the robot arm, system’s throughput should be optimized for generation of the required control law based on the data received from robot’s position sensors. The 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.