EDUCATIONAL 5 AXIS ROBOT CONTROLLER OPTIMIZATION USING ARM HARDWARE INSTRUCTIONS

Autor:	Alexandru-Ioan ANASTASIU, Cozmin CRISTOIU, Florea Dorel ANANIA
Jazyk:	English<br />French
Rok vydání:	2022
Předmět:	robot programming hardware instruction Engineering (General). Civil engineering (General) TA1-2040
Zdroj:	Annals: Series on engineering sciences (Academy of Romanian Scientists), Vol 14, Iss 1, Pp 32-43 (2022)
Druh dokumentu:	article
ISSN:	2066-6950 2066-8570
DOI:	10.56082/annalsarscieng.2022.1.32
Popis:	This paper presents a programming method of a Raspberry Pi controller for a 5-axis articulated arm robot. The goal is optimization of direct kinematics calculations, based on the universal approach for direct kinematics method. Matrix multiplication is implemented using ARM hardware instructions. The main advantage of this method is lower computation time, which means faster robot response time. Programmability of the robot is done by means of a custom-made instruction set, called RASM.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/01209be4655e48cc9f7f9605817f3952 Zobrazit plný text záznamu View record in DOAJ