Abstract
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.
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