Title :
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
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;
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
DOI :
10.1109/ISCAS.1992.230689
