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• W2162625909 abstract "This describes our latest progress in assembling a state-of-the-art control station devoted to solving the optimal configuration resolution problem of redundant robotic manipulators. We describe the Tulane Manipulator (TUMA I), a four degree-of-freedom planar arm that was first conceived as a paper example (1988) to conduct studies in redundant manipulator control. In 1993, a prototype of the robot was built and the control was implemented in C on a 386-class computer. During the last two years we have completely retrofitted the TUMA I with a modern DSP-based data acquisition and control system that will allow us to design the controller module at the block diagram level, automatically generate portable C code, and download the control algorithm directly to the DSP controller board. The highlights several of the station's hardware and software components, describes the problem of self-motion, and presents some preliminary experimental self-motion results obtained on TUMA with an independent joint sliding mode controller." @default.
• W2162625909 created "2016-06-24" @default.
• W2162625909 creator A5026472263 @default.
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• W2162625909 date "2002-12-24" @default.
• W2162625909 modified "2023-09-24" @default.
• W2162625909 title "A redundant manipulator research testbed" @default.
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• W2162625909 doi "https://doi.org/10.1109/cca.1996.558633" @default.
• W2162625909 hasPublicationYear "2002" @default.
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