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List of Figures
The interaction between the groups involved in the prototyping activity.
High-level block diagram of a robot control system.
Different types of damping in a second order control system.
Block diagram of the controller of a robot manipulator.
Overview of SIERA.
Armstrong processes.
Comparison of traditional design and ASIC design.
A basic ANN model.
Reconfigurable parallel VLSI processor.
Reconfiguration of a multi-operand multiply-adder.
Reconfiguration for the floating-point multi-operand multiply-adder.
Conventional floating-point multi-operand multiply-adder.
Structure of the PE.
Reconfigurable parallel VLSI for matrix operations.
Chip layout of the PE.
Features of the PE.
The relation between torque the voltage.
Circuit diagram of the DC-motor used in the experiment
Three different configurations of the robot manipulator.
Performance comparison for different platforms.
The interface window for the PID controller simulator.
The physical three-link robot manipulator.
Controlling the robot using different schemes.
The MC68HC11E9 block diagram.
Programming model.
D/A conversion unit.
Error vs reference voltage.
The optimal design cycle.
Schematic view for the robot prototyping environment.
Three different methods for subsystem interface communication.
Overall design of the prototyping environment.
Finite state machine representation for the change protocol.
Finite state machine representation for the data request protocol.
Possible scenario for the communication between the subsystems.
The main components of the robot prototyping environment.
Detailed analysis for the robot classes.
Database design for the system.
Schematic overview of the PECS.
The main window for the PE control system.
The current robot configuration window.
Updating the design constraints through the PECS.
The user interface for the SSI.
The user interface for the SSI.
The behavior of the one-link robot for the first input sequence.
The behavior of the one-link robot for the second input sequence.
The behavior of the one-link robot for the third input sequence.
The output window of the simulator for the three-link robot.
The effect of changing the update rate on the position error.
Desired and actual position for test case (1).
Desired and actual position for test case (2).
Desired and actual position for test case (3).
Desired and actual position for test case (4).
CI test case one, success case for data change.
CI test case two, negative acknowledgment case.
CI test case three, nonsatisfied constraints case.
Matanya Elchanani
Wed Dec 18 17:00:21 EST 1996