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Contents
Contents
List of Figures
List of Tables
Introduction
Objectives
Background and Related Work
Phases of Building a Robot
Robot Modules and Parameters
Forward Kinematics
Inverse Kinematics
Dynamics
Trajectory Generation
Linear Feedback Control
Local PD Feedback Control
Continuous vs. Discrete Time Control
Disturbance Rejection
Speed Considerations
Types of Inputs
Desired Frequency of the Control System
Error Analysis
Optimal Design of Robot Manipulators
Integration of Heterogeneous Systems
Special Computer Architecture for Robotics
Design Issues
Parallel Architectures and multiprocessors
Application-Specific Integrated Circuits
Neural Networks and Robotics
2400-MFLOPS Reconfigurable Parallel VLSI Processor
Three-link Robot Manipulator
Analysis Stage
One Link Manipulator
Controller Design
Simulation
Benchmarking
PID Controller Simulator
Building the Robot
Robot-computer Interface
The MC68HC11EVBU Chip
Operating Instructions
The MC68HC11E9 Chip
PIN CONFIGURATION
The CPU
Accumulators A, B and D
Index Registers X and Y
Stack Pointer (SP)
Program Counter (PC)
Condition Code Register (CCR)
Opcodes and Addressing Modes
Memory Map
Serial Communications Interface (SCI)
Transmit Operation
Receive Operation
SCI Registers
Analog to Digital Converter
Multiplexer:
Analog Converter:
Digital Control:
Result Registers:
Digital to Analog Converter
Operations in the Chip
Workstation's Role
Problems
Motors and Sensors
The Optimal Design Subsystem
Constructing the Optimization Problem
Structural Length Index
Manipulability
Force Transmissibility
Accuracy
The User Interface
Some Design Examples
Example (1)
Example (2)
Example (3)
Example (4)
The Prototyping Environment
Interaction Between Subsystems
The Interface Scheme
Overall Design
Communication Protocols
Design Cycles and Infinite Loops
Central Interface Design Options
Object-Oriented Analysis
Prototyping Environment Database
Design Parameters
Database Design
The Design History
Constraints and Update Rules Compiler
Language Syntax
The Generated Code
Implementation
The Central Interface
The PE Control System
Initial Implementation of the SSIs
The Central Interface Monitor
Testing and Results
One-link Robot
Simulator for three-link Robot
Software PID Controller
The Prototyping Environment
Case Study
Conclusions
Contribution
Applications
Possible Future Extensions
References
Appendix A
Appendix B
Appendix C
About this document ...
Matanya Elchanani
Wed Dec 18 17:00:21 EST 1996