A general purpose VLSI chip for robot axis motion controller

Author

Alhalabi, Bassem ; Bayoumi, Magdy ; Valavanis, Kimon

Author_Institution

Center of Adv. Comput. Studies, Southwestern Louisiana Univ., Lafayette, LA, USA

Volume

6

fYear

1992

fDate

10-13 May 1992

Firstpage

3005

Abstract

A VLSI-based realization and implementation of an entire robot axis controller is proposed as a single-chip joint controller. This chip requires a 68000-bus family microprocessor (MP) and a power transistor module. It forms a three-component complete robot servo-level controller which correlates all joint electromechanical activities with the supervisor level (main robot CPU). The proposed chip is equipped with an on-chip RS485 port for communication with the CPU. It is also provided with a pin-to-pin interface to its accompanied MP. All joint digital and analog feedback signals connect directly to the chip

Keywords

VLSI; computerised control; microcontrollers; position control; robots; servomotors; 68000-bus family microprocessor; GRAMC architecture; VLSI chip; on-chip RS485 port; pin-to-pin interface; power transistor module; robot axis motion controller; servo-level controller; single-chip joint controller; three-component; Central Processing Unit; Communication system control; Control systems; Intelligent robots; Motion control; Power transistors; Robot control; Robotics and automation; Servomotors; Very large scale integration;

fLanguage

English

Publisher

ieee

Conference_Titel

Circuits and Systems, 1992. ISCAS '92. Proceedings., 1992 IEEE International Symposium on

Conference_Location

San Diego, CA

Print_ISBN

0-7803-0593-0

Type

conf

DOI

10.1109/ISCAS.1992.230689

Filename

230689