Robot arm controller with common bus memory

Details Robot arm controller with common bus memory Robot arm controller with common bus memory

1981-10-26

1984-08-21

Gruber, Felix D.

Boots, shoes, and leggings

364200, G05B 1942, G06F 1546, B25J 900

Patent

active

044674368

ABSTRACT:
In a robotic apparatus having a manipulator arm including plural motors to move the arm to predetermined spatial positions and a control system for the arm, a common bus and common memory connected to the bus. The control system comprises respective microprocessor based controllers for each of the joints, microprocessor based computation means for performing the mathematical computation to control the trajectories of the arm and common microprocessor based coordinating control system for coordinating the activities of the other modular microprocessor based control system. Accessing routine is associated with the bus for providing each of the microprocessor based control system with direct, exclusive access to the bus during respective time intervals. The common memory serves as a depository for messages to and from the microprocessor based control system to enable intercommunication between the microprocessor based control system accessing the bus.

REFERENCES:
patent: 4128881 (1978-12-01), Yamamoto et al.
patent: 4141067 (1979-02-01), McLagan
patent: 4178632 (1979-12-01), Anthony
patent: 4237534 (1980-12-01), Felix
patent: 4263538 (1981-04-01), Richiardi
patent: 4308584 (1981-12-01), Arai
Shima et al.: Z-80 Chip Set Heralds Third Microprocessor Generation, Electronics Magazine Book Series-McGraw Hill, 1976, pp. 44-48, TK7895.M5.
Morris et al.: Scamp Microprocessor Aims to Replace Mechanical Logic, Electronics, Sep. 18, 1975, pp. 81/87.
Titus: Data-Aquisition System Built Modularly Around Intel 8080, Electronics Magazine Book Series, McGraw Hill, 1976, pp. 188-190.

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