Function-distributed control apparatus

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364134, 364200, 364222, 3642304, 364900, 364921, 36493144, G06F 1546, G06F 1516

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active

049530747

ABSTRACT:
A function-distributed control apparatus comprises a first bus, a second bus, and at least one base processor element which includes a first main processing unit connected to at least the first bus, a second main processing unit connected to at least the second bus, and a dual-port memory with a mutual interrupt circuit connected to both these main processing units for communications between them. The first bus and the first main processing unit are chiefly for intelligent processing required for controlling a machine, while the second bus and the second main processing unit are chiefly for motion control of the machine. Those buses are also connected to various intelligent subsystems each including a processing unit and a dual-port memory with a mutual interrupt circuit for communications with the base processor element.

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patent: 4497019 (1985-01-01), Waber
patent: 4628436 (1986-12-01), Okamoto et al.
patent: 4803613 (1988-02-01), Kametami et al.
Arzawa et al., "Development of New Type Robot Control Console (Model 4)"; Tokico Review, vol. 28, No. 1, '84, pp. 20-26.
Hopkins, "An Improved Controller for the Rhino Robot Arm", Conf. Proc. IEEE Southeast Con. '85; pp. 333-337.

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