Title :
Control of a hummingbird minipositioner with a multi-transputer MARC controller
Author :
Zai, L.C. ; Durfee, L.F. ; Manzer, D.G. ; Karadis, J.P. ; Mastro, M.P. ; Landerman, L.W.
Author_Institution :
IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
Abstract :
The authors describe a high-performance MARC (Multi-Transputer Apparatus for Real-Time Control) system and its application for controlling a three-degree-of-freedom positioning device (minipositioner). Integrated with the IEEE-959 (SBX) bus and INMOS TRAM sites, the MARC system provides the flexibility and extensibility for many industrial applications. Computed torque and near-minimum-time methods were implemented on the system to control and minipositioner for high-speed, point-to-point motion. Experimental data show that the position-servo bandwidth of the device exceeds 273 Hz. The minipositioner is able to move 5 mm in 11 ms, including move time and settling time
Keywords :
computerised control; position control; real-time systems; servomechanisms; INMOS TRAM; Multi-Transputer Apparatus for Real-Time Control; computed torque method; minipositioner; multitransputer MARC controller; near-minimum-time methods; point-to-point motion; position control; position-servo bandwidth; Automatic control; Bandwidth; Control systems; Electrical equipment industry; Hardware; Industrial control; Instruments; Robot sensing systems; Service robots; System testing;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220237
