A digital signal processor network for robot axis control

Author

Ling, N. ; Malowany, A.S.

Author_Institution

McGill Res. Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada

fYear

1989

fDate

1-2 June 1989

Firstpage

602

Lastpage

605

Abstract

A distributed control system built using a local area network of digital signal processor based controllers is described. By coordinating the single-loop controllers, the system allows the partitioning of different tasks on separate microcomputers and offers the advantages of expandability and modularity. Different strategies can be implemented by downloading of software in this distributed control system. Although the architecture of this control system is designed for robot control, the system is generally and fully programmable and does not assume any manipulator characteristics. AT&T DSP32 32-bit, 16-MHz digital signal processors are used in this design. Simulation of the control system software is tested on an IBM-AT with the AT&T DSP32 development tools, and these results are presented.<>

Keywords

digital signal processing chips; distributed control; local area networks; robots; 16 MHz; 32 bit; AT&T DSP32; HF; IBM-AT; control system software; development tools; digital signal processor network; distributed control system; local area network; microcomputers; robot axis control; simulation; single-loop controllers; Computer architecture; Control systems; Digital signal processors; Distributed control; Local area networks; Manipulators; Microcomputers; Process control; Robot control; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Communications, Computers and Signal Processing, 1989. Conference Proceeding., IEEE Pacific Rim Conference on

Conference_Location

Victoria, BC, Canada

Type

conf

DOI

10.1109/PACRIM.1989.48436

Filename

48436