Development and test of a new advanced DSP based architecture for robotics drives control

A multiprocessor based architecture oriented towards multivariable real-time robotics drives control systems has been developed by the authors. This structure is able to exploit the digital signal processor AT&T DSP32C great computational power and the microcontroller Motorola MC68332 peripheral subsystem control flexibility. The microcontroller and DSP development environments have been used for hardware and software testing, and an assembler language software library, including routines for system management, has been created. The whole system is presented, and some considerations about its practical implementation are made. Moreover, a general view of the engineering aspects is offered, and an application example is described