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
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| Item Type: | Article |
|---|---|
| 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 |
| 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 > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems |
| Date Deposited: | 28 Apr 2023 08:15 |
| Last Modified: | 06 Jul 2023 13:05 |
| URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/23394 |
| PPN: | 509344046 |
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