Rathgeber, K. ; Schnell, Michael (2023)
Multi-Microcomputer Robot Control System Using a Special Robot-Arithmetic-Processor for Advanced Applications of Robot Manipulators.
In: IFAC Proceedings Volumes, 1986, 20 (4)
doi: 10.26083/tuprints-00023394
Artikel, Zweitveröffentlichung, Verlagsversion
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Kurzbeschreibung (Abstract)
The performance of complex and advanced applications of industrial reports requires large computational power. The control system presented in this paper is designed as a multi-microcomputer system. The main purpose of this system is to create a pleasant environment for present and further studies in robotic research.
The Advanced Robot Control System (ARC) uses multiple microcomputers based on iAPX 8086 processors. A local bus of each processor allows additional memory and Input/output expansions for increased throughput. Nevertheless, the rising calculation effort for the kinematic and dynamic relations shows the insufficient computing power of standard microprocessors.
Therefore a fast floating-point processor has been developed. This Robot Arithmetic Processor (RAP) is built up with bipolar bit-slice components, special arithmetic modules and hardware control mechanisms for on- and off-line diagnostic functions.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2023 |
| Autor(en): | Rathgeber, K. ; Schnell, Michael |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Multi-Microcomputer Robot Control System Using a Special Robot-Arithmetic-Processor for Advanced Applications of Robot Manipulators |
| Sprache: | Englisch |
| Publikationsjahr: | 2023 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 1986 |
| Verlag: | IFAC - International Federation of Automatic Control |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | IFAC Proceedings Volumes |
| Jahrgang/Volume einer Zeitschrift: | 20 |
| (Heft-)Nummer: | 4 |
| DOI: | 10.26083/tuprints-00023394 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/23394 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichungsservice |
| Kurzbeschreibung (Abstract): | The performance of complex and advanced applications of industrial reports requires large computational power. The control system presented in this paper is designed as a multi-microcomputer system. The main purpose of this system is to create a pleasant environment for present and further studies in robotic research. The Advanced Robot Control System (ARC) uses multiple microcomputers based on iAPX 8086 processors. A local bus of each processor allows additional memory and Input/output expansions for increased throughput. Nevertheless, the rising calculation effort for the kinematic and dynamic relations shows the insufficient computing power of standard microprocessors. Therefore a fast floating-point processor has been developed. This Robot Arithmetic Processor (RAP) is built up with bipolar bit-slice components, special arithmetic modules and hardware control mechanisms for on- and off-line diagnostic functions. |
| Freie Schlagworte: | Special purpose computers, Microprocessors, Hierarchical Systems, Multiprocessing Systems, Microprogramming, Diagnostic on Chip, Computer Architecture, Robots, Closed Loop Systems, Real-Time Control, Cartesian Robot Control |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-233944 |
| Zusätzliche Informationen: | Zugl. Konferenzveröffentlichung: IFAC Symposium on Microcomputer Application in Process Control, 22.-25.07.1986, Istanbul, Turkey |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Intelligente Systeme |
| Hinterlegungsdatum: | 28 Apr 2023 08:15 |
| Letzte Änderung: | 03 Mai 2023 10:00 |
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