Microprocessors in Robotic and Manufacturing Systems

✍ Scribed by Yuan F. Zheng, Hooshang Hemami (auth.), Spyros G. Tzafestas (eds.)

• Publisher: Springer Netherlands
• Year: 1991
• Tongue: English
• Leaves: 410
• Series: Microprocessor-Based Systems Engineering 6
• Edition: 1
• Category: Library

✦ Synopsis

Microprocessors play a dominant role in computer technology and have contributed uniquely in the development of many new concepts and design techniques for modem industrial systems. This contribution is excessively high in the area of robotic and manufacturing systems. However, it is the editor's feeling that a reference book describing this contribution in a cohesive way and covering the major hardware and software issues is lacking. The purpose of this book is exactly to fill in this gap through the collection and presentation of the experience of a number of experts and professionals working in different academic and industrial environments. The book is divided in three parts. Part 1 involves the first four chapters and deals with the utilization of microprocessors and digital signal processors ( DSPs ) for the computation of robot dynamics. The emphasis here is on parallel computation with particular problems attacked being task granularity, task allocation/scheduling and communication issues. Chapter I, by Zheng and Hemami, is concerned with the real-time multiprocessor computation of torques in robot control systems via the Newton-Euler equations. This reduces substantially the height of the evaluation tree which leads to more effective parallel processing. Chapter 2, by D'Hollander, examines thoroughly the automatic scheduling of the Newton-Euler inverse dynamic equations. The automatic program decomposition and scheduling techniques developed are embedded in a tool used to generate multiprocessor schedules from a high-level language program.

✦ Table of Contents

Front Matter....Pages i-xv
Front Matter....Pages 1-1
Computation of Robot Dynamics by a Multiprocessor Scheme....Pages 3-30
Automatic Scheduling of the Newton-Euler Inverse Dynamics....Pages 31-47
Numerical Applications of DSPs in Robotic Computations....Pages 49-77
Parallel Processing of Robot Control and Simulation....Pages 79-100
Front Matter....Pages 101-101
Microprocessor-Based Controllers for Robotic Manipulators....Pages 103-129
Design Aspects of a Robot Coordinated by a Desktop Computer....Pages 131-152
A PC Simulation Program for Comparing Performances of Robot Control Algorithms....Pages 153-175
Collision Strategies for Robot Retreat and Resistance....Pages 177-215
A Distributed Control Network for Sensory Robotics....Pages 217-235
Neural Networks and Robot Vision....Pages 237-257
Front Matter....Pages 259-259
Microprocessors in Data Acquisition Systems for Process Control....Pages 261-278
Design and Analysis of a Modular CNC System....Pages 279-310
Computer / Programmable Control of a Flexible Manufacturing Cell....Pages 311-333
Robot and PLC Support System Based on Fiber Optic Map Network....Pages 335-351
Experimental Results of Parameter Identification and Nonlinear Control on a PM Stepper Motor....Pages 353-368
Digital Signal Processor Implementation of a Kalman Filter for Disk Drive Head Positioning Mechanism....Pages 369-383
Simulation Analysis of Flexible Manufacturing Systems Using RENSAM....Pages 385-402
Back Matter....Pages 403-411

✦ Subjects

Control, Robotics, Mechatronics; Manufacturing, Machines, Tools; Electrical Engineering; Control Structures and Microprogramming