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Multi-Microcomputer Robot Control System Using a Special Robot-Arithmetic-Processor for Advanced Applications of Robot Manipulators

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
Article, Secondary publication, Publisher's Version

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.

Item Type: Article
Erschienen: 2023
Creators: Rathgeber, K. ; Schnell, Michael
Type of entry: Secondary publication
Title: Multi-Microcomputer Robot Control System Using a Special Robot-Arithmetic-Processor for Advanced Applications of Robot Manipulators
Language: English
Date: 2023
Place of Publication: Darmstadt
Year of primary publication: 1986
Publisher: IFAC - International Federation of Automatic Control
Journal or Publication Title: IFAC Proceedings Volumes
Volume of the journal: 20
Issue Number: 4
DOI: 10.26083/tuprints-00023394
URL / URN: https://tuprints.ulb.tu-darmstadt.de/23394
Corresponding Links:
Origin: Secondary publication service
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.

Uncontrolled Keywords: 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: Publisher's Version
URN: urn:nbn:de:tuda-tuprints-233944
Additional Information:

Zugl. Konferenzveröffentlichung: IFAC Symposium on Microcomputer Application in Process Control, 22.-25.07.1986, Istanbul, Turkey

Classification DDC: 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems
Date Deposited: 28 Apr 2023 08:15
Last Modified: 03 May 2023 10:00
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