Abstract
This paper presents a tutorial for robotics education on control implementation of a collaborative robot using digital signal processors(DSPs). In most robotics classes, the kinematics and dynamics of robots are major considerations. Robot control is considered as an extension. However, the subject, robot control, requires more time and effort to implement since it is more complicated. Herein, a tutorial on robot control implementation using DSPs is presented as an introduction to real control applications, and an example of completing a robot system integration from kinematics to control is introduced. A time-delayed control (TDC)method is implemented in joint space as an example of control algorithms. Experimental results of the position control of a robot arm are demonstrated.
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