EDUCATIONAL 5 AXIS ROBOT CONTROLLER OPTIMIZATION USING ARM HARDWARE INSTRUCTIONS

EDUCATIONAL 5 AXIS ROBOT CONTROLLER OPTIMIZATION USING ARM HARDWARE INSTRUCTIONS

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. Th...

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Veröffentlicht in:Annals of the Academy of Romanian Scientists. Series on engineering sciences 2022-06, Vol.14 (1), p.32-43
Hauptverfasser: ANASTASIU, Alexandru-Ioan, CRISTOIU, Cozmin, ANANIA, Florea Dorel
Format: Artikel
Sprache:eng
Schlagworte:
hardware instruction
programming
robot
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Zusammenfassung: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.
ISSN:2066-6950
2066-8570
DOI:10.56082/annalsarscieng.2022.1.32