Robot arm controller with common bus memory
US4467436A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Oct 26, 1981 |
| Grant date | Aug 21, 1984 |
| Priority date | — |
| Expiry date | Oct 26, 2001 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45083
- WIPO fieldControl
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.