• DocumentCode
    289665
  • Title

    A transputer interface for the PUMA560 manipulator

  • Author

    Wang, Q. ; Zalzala, A.M.S.

  • Author_Institution
    Dept. of Autom. Control & Syst. Eng., Sheffield Univ., UK
  • fYear
    1994
  • fDate
    34676
  • Firstpage
    42552
  • Lastpage
    42554
  • Abstract
    The paper describes the design of an advanced control system for the PUMA560 industrial robotic manipulator using a high-performance parallel transputer (T805) network. The Transputer Interface Board (TIE) which establishes a transputer link to the 6503 microprocessors of the PUMA arm controller, is detailed. Much more flexibility can be achieved with this system. The interface period is now reduced to 1.75 ms (instead of the default 28 ms). Controlled by this new system, PUMA moves much more smoothly
  • Keywords
    industrial control; industrial manipulators; peripheral interfaces; transputer systems; 6503 microprocessors; PUMA arm controller; PUMA560 industrial robotic manipulator; PUMA560 manipulator; T805; TIE; Transputer Interface Board; advanced control system; high-performance parallel transputer network; transputer interface;
  • fLanguage
    English
  • Publisher
    iet
  • Conference_Titel
    High Performance Computing for Advanced Control, IEE Colloquium on
  • Conference_Location
    London
  • Type

    conf

  • Filename
    383921
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=289665