DESCRIPTION
The Texas Instruments MSP430 family of ultra-low-power microcontrollers consists of several devices featuring
different sets of peripherals targeted for various applications. The architecture, combined with five low-power
modes, is optimized to achieve extended battery life in portable measurement applications. The device features a
powerful 16-bit RISC CPU, 16-bit registers, and constant generators that contribute to maximum code efficiency.
The digitally controlled oscillator (DCO) allows wake-up from low-power modes to active mode in less than 1 μs.
The MSP430G2x13 and MSP430G2x53 series are ultra-low-power mixed signal microcontrollers with built-in 16-
bit timers, up to 24 I/O capacitive-touch enabled pins, a versatile analog comparator, and built-in communication
capability using the universal SERIAL communication interface. In addition the MSP430G2x53 family members
have a 10-bit analog-to-digital (A/D) converter. For configuration details see Table 1.
Typical applications include low-cost sensor systems that capture analog signals, convert them to digital values,
and then process the data for display or for transmission to a host system.
The SP2526A device is a dual +3.0V to +5.5V USB Supervisory Power Control Switch ideal
for self-powered and bus-powered Universal SERIAL Bus (USB) applications. Each switch has
low on-resistance (110mΩ typical) and can supply 500mA minimum. The fault currents are
limited to 1.0A typical and the flag output pin for each switch is available to indicate fault
conditions to the USB controller. The thermal shutdown feature will prevent damage to the
device when subjected to excessive current loads. The undervoltage lockout feature will
ensure that the device will remain off unless there is a valid input voltage present.
A kinematically redundant manipulator is a SERIAL robotic arm that has more
independently driven joints than are necessary to define the desired pose (position
and orientation) of its end-effector. With this definition, any planar manipulator (a
manipulator whose end-effector motion is restrained in a plane) with more than
three joints is a redundant manipulator. Also, a manipulator whose end-effector can
accept aspatialposeisaredundant manipulator ifithas morethan sixindependently
driven joints. For example, the manipulator shown in Fig. 1.1 has two 7-DOF arms
mounted on a torso with three degrees of freedom (DOFs). This provides 10 DOFs
for each arm. Since the end-effector of each arm can have a spatial motion with six
DOFs, the arms are redundant.
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