In this thesis, a high speed control system for a telerobot using DSP is developed. The system is designed to resolve computational burden in advanced algorithms. The design is assumed to have no specific algorithm and robot configuration. Also, it is easy to increase the number of drive joints and to process sensor data. The system is composed of a teaching box, a DSP board, i.e. DSP56000ADS(Application Development System), a set of servo drivers and a 16-bit microcomputer system. The teaching box is designed as a man-machine interface, which has two joysticks with three degrees of freedom for velocity generation in Cartesian space. The DSP56000ADS based on a 10.25 MIPS(Million Instruction Per Second) digital signal processor, DSP56001, computes the inverse Jacobian matrix which transforms Cartesian velocity into joint velocity. A resolved motion rate control algorithm for a 5 degrees of freedom manipulator was implemented. About 100Hz sampling rate was achieved in this system.
