DSP/FPGA-based Controller Architecture for Flexible Joint Robot with Enhanced Impedance Performance.
Jianbin HuangZongwu XieHong LiuKai SunYechao LiuZainan JiangPublished in: J. Intell. Robotic Syst. (2008)
Keyphrases
- control architecture
- position control
- central pattern generator
- robotic systems
- real time
- robotic manipulator
- force control
- control scheme
- hardware architecture
- robotic platform
- mobile robot
- closed loop
- motion control
- hardware design
- robot manipulators
- pid controller
- control system
- hardware implementation
- texas instruments
- control strategy
- biped robot
- vision system
- dc motor
- digital signal processor
- robot navigation
- systolic array
- control algorithm
- signal processing
- control method
- wheeled mobile robot
- dynamic model
- experimental platform
- hardware architectures
- control strategies
- control signals
- control loop
- inverse kinematics
- robot arm
- robot control
- control law
- position and orientation
- autonomous robots
- data flow
- fuzzy controller
- humanoid robot
- optimal control
- degrees of freedom
- image processing