Intelligent Systems, Control and Automation: Science and Engineering

Microprocessors in Robotic and Manufacturing Systems

Editors: Tzafestas, S.G. (Ed.)

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About this book

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 (17 chapters)

  • Computation of Robot Dynamics by a Multiprocessor Scheme

    Zheng, Yuan F. (et al.)

    Pages 3-30

  • Automatic Scheduling of the Newton-Euler Inverse Dynamics

    D’Hollander, Erik H.

    Pages 31-47

  • Numerical Applications of DSPs in Robotic Computations

    Stefano, A. (et al.)

    Pages 49-77

  • Parallel Processing of Robot Control and Simulation

    Kasahara, Hironori

    Pages 79-100

  • Microprocessor-Based Controllers for Robotic Manipulators

    Tenreiro Machado, J. A. (et al.)

    Pages 103-129

Buy this book

eBook $309.00
price for USA (gross)
  • ISBN 978-94-011-3812-3
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $389.00
price for USA
  • ISBN 978-0-7923-0780-8
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $389.00
price for USA
  • ISBN 978-94-010-5694-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Microprocessors in Robotic and Manufacturing Systems
Editors
  • S.G. Tzafestas
Series Title
Intelligent Systems, Control and Automation: Science and Engineering
Series Volume
6
Copyright
1991
Publisher
Springer Netherlands
Copyright Holder
Springer Science+Business Media Dordrecht
eBook ISBN
978-94-011-3812-3
DOI
10.1007/978-94-011-3812-3
Hardcover ISBN
978-0-7923-0780-8
Softcover ISBN
978-94-010-5694-6
Series ISSN
2213-8986
Edition Number
1
Number of Pages
XV, 411
Topics