Title :
A transputer interface for the PUMA560 manipulator
Author :
Wang, Q. ; Zalzala, A.M.S.
Author_Institution :
Dept. of Autom. Control & Syst. Eng., Sheffield Univ., UK
Abstract :
The paper describes the design of an advanced control system for the PUMA560 industrial robotic manipulator using a high-performance parallel transputer (T805) network. The Transputer Interface Board (TIE) which establishes a transputer link to the 6503 microprocessors of the PUMA arm controller, is detailed. Much more flexibility can be achieved with this system. The interface period is now reduced to 1.75 ms (instead of the default 28 ms). Controlled by this new system, PUMA moves much more smoothly
Keywords :
industrial control; industrial manipulators; peripheral interfaces; transputer systems; 6503 microprocessors; PUMA arm controller; PUMA560 industrial robotic manipulator; PUMA560 manipulator; T805; TIE; Transputer Interface Board; advanced control system; high-performance parallel transputer network; transputer interface;
Conference_Titel :
High Performance Computing for Advanced Control, IEE Colloquium on
Conference_Location :
London
