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.