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Transactions: WSEAS TRANSACTIONS ON SYSTEMS
Transactions ID Number: 31-759
Full Name: Luige Vladareanu
Position: Professor
Age: ON
Sex: Male
Address: Romanian Academy, Institute of Solid Mechanics
Country: ROMANIA
Tel: 0040213126736
Tel prefix:
Fax: 004021 3126736
E-mail address: luigiv@arexim.ro
Other E-mails: luigiv2007@yahoo.com.sg
Title of the Paper: The Robot Hybrid Position and Force Control in Multi-Microprocessor Systems
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Number of paper pages: 10
Abstract: Abstract. This paper shows a new robot hybrid position and force control of walking robots in multi-microprocessor system in order to obtain high performances. For this purpose kinematics and kinetostatics analysis are performed, and the mathematic model of the inverted kinematics is determined for controlling the main trajectory of the robot. The method of computation in real time of the inverse Jacobean matrix, topology of transducers networks and the data flux corresponding to implementation of the multi-microprocessor system for path control of industrial robots is presented. Related to this there is presented an Open Architecture system for the robot position control in Cartesian coordinates through real time processing of the Jacobean matrix obtained out of the forward kinematics using the Denevit-Hartenberg method and calculating the Jacobean inverted matrix for feedback. The obtained results prove a significant reduction of the execution time for the real t!
ime control of robot's position in Cartesian coordinates and increased flexibility.
Keywords: Key Words: real-time digital processing, hybrid position-force control, compliance function, multi-microprocessor system.
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