Composition of Multiple D.O.F. Robot Control System Using a Parallel Processing Microcomputer | Zendy

Shigeki Sugano | Zendy

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Composition of Multiple D.O.F. Robot Control System Using a Parallel Processing Microcomputer

Author(s) -

Shigeki Sugano

Publication year - 1990

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1990.p0189

Subject(s) - transputer , computer science , robot , mechatronics , parallel manipulator , microcomputer , control system , software , debugging , embedded system , computer hardware , artificial intelligence , operating system , engineering , telecommunications , chip , electrical engineering

In this paper, a method of composition for a multimicroprocessor robotic systems and a concrete example of a mobile anthropomorphic manipulator are discussed. There are many methods to compose multimicroprocessor systems for robots and complex mechatronic units. It is most advantageous for multiple degrees of freedom robots to introduce a concurrent system employing microcomputers designed on the premise of parallel connection, as it is easy to realize high speed and efficiency. In addition, hardware and software design as well as related debugging is very easy. A mobile anthropomorphic manipulator (WAM-9) with 7 d.o.f. in the arm, 16 d.o.f. in the hand and 3 d.o.f. in the body has been developed aimed at improving the robot dexterity. The control system of WAM-9 employs a 32-bit ""Transputer"" parallel processing microcomputer. This system includes about 20 transputers and is modeled after the human central nervous system.

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