A command generating system for the resolved motion rate control (RMRC) of telerobots is presented. The system is composed of a operation box, a DSP board and a host computer. The operation box is designed as a man-machine interface, which has two joysticks for velocity generation in Cartesian space and push buttons for operation mode selection. Utilizing the high speed DSP chip TMS320C25, the DSP board computes the inverse Jacobian matrix transforming Cartesian velocity into the joint velocity. A MVME 133 monoboard computer is used as the host computer, which takes care of the data communication between the operation box and the DSP board and supervises the overall operations of the system. The effectiveness of the system is shown through a graphic simulation on SUN-3/110 and the computation time for the inverse Jacobian matrix is compared with that of a general purpose microprocessor, MC68020.
