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A PC-Based Controller for Dextrous ArmsThis paper describes the architecture and performance of a PC-based controller for 7-DOF dextrous manipulators. The computing platform is a 486-based personal computer equipped with a bus extender to access the robot Multibus controller, together with a single board computer as the graphical engine, and with a parallel I/O board to interface with a force-torque sensor mounted on the manipulator wrist.
Document ID
20060036003
Acquisition Source
Jet Propulsion Laboratory
Document Type
Preprint (Draft being sent to journal)
External Source(s)
Authors
Fiorini, Paolo
Seraji, Homayoun
Long, Mark
Date Acquired
August 23, 2013
Publication Date
April 22, 1996
Distribution Limits
Public
Copyright
Other
Keywords
controller PC-Based Controller Dextrous Arms 7-DOF dextrous manipulators
dextrous manipulators

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