Title :
An application specific integrated circuit for dual-axis motion control
Author :
Zimmerman, S.D. ; Satterlee, P.E., Jr. ; Bouldin, D.W.
Author_Institution :
Telerobotics Int. Inc., Knoxville, TN, USA
Abstract :
An application-specific integrated circuit (ASIC) for dual-axis robotic motion control was designed and developed with computer-aided design (CAD) tools. The ASIC provides an all-digital dual-axis pulse-width modulated (PWM) amplifier interface. The ASIC layout was produced on a SUN workstation using VLSI design tools. A standard cell library of basic digital functions and an automatic placement and autorouting program were used in the course of the design. The design was implemented in 2-μm scalable CMOS technology using MOSIS (Metal Oxide Semiconductor Implementation Service). The device was fabricated in both 40-pin ceramic DIP (dual inline packaging) and 44-pin plastic-leaded chip carrier packages. The dual-axis PWM controller chip was designed as part of a complete dual-arm, force-reflecting, master-slave telerobotic manipulator system and provides a 24-kHz PWM drive signal and control for a two-axis, 500-W amplifier module. The device interfaces to a microprocessor bus and requires only 100 mW of power at 12 MHz
Keywords :
CMOS integrated circuits; VLSI; circuit CAD; controllers; integrated logic circuits; logic CAD; packaging; position control; pulse width modulation; robots; 100 mW; 12 MHz; 2 micron; 24 kHz; 40 pin type; 44 pin type; 500 W; ASIC; CAD; IC layout design; MOSIS; PWM amplifier interface; PWM controller chip; SUN workstation; VLSI design tools; application specific integrated circuit; automatic placement; autorouting program; ceramic DIP; computer-aided design; dual inline packaging; dual-arm; dual-axis motion control; force-reflecting; master-slave telerobotic manipulator system; microprocessor bus interfacing; plastic-leaded chip carrier; pulse-width modulated; robotic motion; scalable CMOS technology; standard cell library; Application specific integrated circuits; Automatic control; CMOS technology; Control systems; Design automation; Electronics packaging; Force control; Pulse amplifiers; Pulse width modulation; Robot motion;
Conference_Titel :
Southeastcon '89. Proceedings. Energy and Information Technologies in the Southeast., IEEE
Conference_Location :
Columbia, SC
DOI :
10.1109/SECON.1989.132508
