NASA NTRS · 19880000016
Unified Robot-Control System
Abstract
Robot-joint motors integrated with control computer or computers. Robot controller uses only 1 microprocessor to control as many as 16 joint-actuating motors. Control system uses high-speed bus to communicate with joint-interface circuits, addressing scheme to write commands to several motors simultaneously, and efficient assembly-language servo code. Features enable control of 16 joints at 1-kHz servo rate. Suitable for control of motors in numerically-controlled manufacturing systems. Use of single joint-control processor results in few components, lower cost, and simpler architecture.
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Szakaly, Zoltan F.. 1988-01-01. Unified Robot-Control System. https://ntrs.nasa.gov/citations/19880000016
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