An embedded controller is designed to generate the control law forrobotic manipulators. Since the manipulator speed is limited by themechanical constraints of the robot arm, the system's throughout shouldbe optimized for generation of the required control law based on thedata received from the robot's position sensors. “Mohseni'sProposed Algorithm”, MPA, has been incorporated into the embeddedcontroller to reduce the computational efforts and to obtain a“close-to-optimal” control law. MPA is capable ofdetermining a simplified control law by selecting the most dominantterms from a library of nonlinear functions associated with the robot'sequations of motion. The embedded controller is microprocessor based,which provides the designer with the advantage of using ahighly-integrated processor and the ability to develop the softwareneeded
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