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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

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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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