Composition of Multiple D.O.F. Robot Control System Using a Parallel Processing Microcomputer
Department of Mechanical Engineering, School of Science & Engineering Waseda University, 3-4-1, Ookubo, Shinjyu-ku Tokyo 169, Japan
In this paper, a method of composition for a multimicroprocessor robotic systems and a concrete example of a mobile anthropomorphic manipulator are discussed. There are many methods to compose multimicroprocessor systems for robots and complex mechatronic units. It is most advantageous for multiple degrees of freedom robots to introduce a concurrent system employing microcomputers designed on the premise of parallel connection, as it is easy to realize high speed and efficiency. In addition, hardware and software design as well as related debugging is very easy. A mobile anthropomorphic manipulator (WAM-9) with 7 d.o.f. in the arm, 16 d.o.f. in the hand and 3 d.o.f. in the body has been developed aimed at improving the robot dexterity. The control system of WAM-9 employs a 32-bit “Transputer” parallel processing microcomputer. This system includes about 20 transputers and is modeled after the human central nervous system.