|
EMBEDDED CONTROL ARCHITECTURE FOR A REDUNDANT ROBOTIC ARM
A. Barreca G. Cannata L. Dentone F. Giorgi
Dept. of Communications, Computer and Systems Sciences,
University of Genova, Via Opera Pia 13, 16145 Genova, Italy
This paper presents some design aspects related with the development of a human-like robot arm, with fully embedded control architecture. The specific features of the proposed mechanical design are discussed first. Then, a candidate distributed and embedded control architecture is eventually proposed.
Keywords: Robotic Manipulators, Robot Kinematics, Embedded Systems, Fieldbus, Distributed Control, Architectures
Session slot T-Mo-A14: Robot Controllers/Area code 1d : Robotics
 | 