Patent
Robot arm controller with common bus memory
Peter E. Chance,Mitchell Weiss +1 more
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TLDR
In this article, the authors present a control system for a manipulator arm including plural motors to move the arm to predetermined spatial positions and a common bus and common memory connected to the bus, where the common memory serves as a depository for messages to and from the microprocessor based control system.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.read more
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References
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Patent
Multiprocessor system with cache memory
TL;DR: In this paper, a multiprocessor system is described in which a plurality of central processor units share the same main memory over a common asynchronous bus, and each central processor directs all memory requests to its own high speed cache memory.
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Method for controlling the operation of a computer operated robot arm
TL;DR: In this paper, a computer operated robot arm can be controlled by a first program defining absolute coordinate values of points necessary for a basic cycle of operation and at least one second program defined absolute coordinates of points required for a conditional cycle of operations.
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Apparatus for control of manipulator
TL;DR: In this article, a method and apparatus for controlling a manipulator by establishing polynomials obtained, as the functions of two sets of command values, by approximating the values of angles of rotation prescribed for the drive mechanisms of the manipulator and the arm of the manipulated manipulator, subjecting the aforementioned objective-command values to an arithmetic operation in electronic circuitry is presented.
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Control system for an automatic machine
TL;DR: In this article, the authors present a control system for an automatic machine or robot having an articulated arm, comprising position transducers for sensing the position of the arm, actuators for effecting displacement of the arms and a mini-processor which receives signals from the transducers and feeds signals to the actuators.
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Shared memory access control system for a multiprocessor system
TL;DR: In this paper, a shared memory access control system for a multiprocessor system is described, which includes circuitry external to and associated with at least each processor except for one processor, responsive to the synchronizing signal from its respective processor for modifying the non-unique fixed address from the respective processor so that, as a result, each processor is able to address the common memory over the commonly connected bus lines with a unique fixed address.