Microprocessors in Robotic and Manufacturing Systems

1. Front Matter

   Pages i-xv

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2. Robotic Computations

   1. Front Matter

      Pages 1-1

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   2. Computation of Robot Dynamics by a Multiprocessor Scheme

      • Yuan F. Zheng, Hooshang Hemami

      Pages 3-30

   3. Automatic Scheduling of the Newton-Euler Inverse Dynamics

      • Erik H. D’Hollander

      Pages 31-47

   4. Numerical Applications of DSPs in Robotic Computations

      • A. Di Stefano, O. Mirabella

      Pages 49-77

   5. Parallel Processing of Robot Control and Simulation

      • Hironori Kasahara

      Pages 79-100

3. Robotic Control and Vision

   1. Front Matter

      Pages 101-101

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   2. Microprocessor-Based Controllers for Robotic Manipulators

      • J. A. Tenreiro Machado, J. L. Martins de Carvalho

      Pages 103-129

   3. Design Aspects of a Robot Coordinated by a Desktop Computer

      • John Billingsley

      Pages 131-152

   4. A PC Simulation Program for Comparing Performances of Robot Control Algorithms

      • J. O’Shea, R. Benali

      Pages 153-175

   5. Collision Strategies for Robot Retreat and Resistance

      • R. E. Goddard, K. L. Boyer, H. Hemami

      Pages 177-215

   6. A Distributed Control Network for Sensory Robotics

      • A. T. de Almeida, U. C. Nunes, J. M. Dias, H. J. Araujo, J. Batista

      Pages 217-235

   7. Neural Networks and Robot Vision

      • Erik H. D’Hollander

      Pages 237-257

4. Manufacturing Systems

   1. Front Matter

      Pages 259-259

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   2. Microprocessors in Data Acquisition Systems for Process Control

      • A. M. Weilert

      Pages 261-278

   3. Design and Analysis of a Modular CNC System

      • Y. Altintas

      Pages 279-310

   4. Computer / Programmable Control of a Flexible Manufacturing Cell

      • J. Richard, F. Lepage, G. Morel

      Pages 311-333

   5. Robot and PLC Support System Based on Fiber Optic Map Network

      • P. Hodaie, B. Chan, B. Szabados, O. Storoshchuk

      Pages 335-351

   6. Experimental Results of Parameter Identification and Nonlinear Control on a PM Stepper Motor

      • Michael Aiello, Ronald Rekowski, Marc Bodson, John Chiasson, David Schuerer

      Pages 353-368

   7. Digital Signal Processor Implementation of a Kalman Filter for Disk Drive Head Positioning Mechanism

      • J. A. Lowe, F. L. Lewis

      Pages 369-383

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.

• Filter
• Motor
• Sensor
• actuator
• algorithms
• automation
• communication
• control algorithm
• data acquisition
• digital signal processor
• kinematics
• microprocessor
• programmable logic controller
• robotics
• sensing

• Department of Electrical Engineering, National Technical University of Athens, Athens, Greece

  Spyros G. Tzafestas

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