Robot arm controller with common bus memory

Details Robot arm controller with common bus memory Robot arm controller with common bus memory

B - Operations, Transporting

25

J

342/22.1

B25J 9/00 (2006.01) G05B 19/414 (2006.01)

Patent

CA 1186394

ABSTRACT OF THE DISCLOSURE In a robotic apparatus having a manipulator arm including plural motors to move the arm to predetermined spatial positions and control means for the arm, a common bus and common memory means connected to the bus. The control means comprises respective microprocessor based controllers for each of the joints, microprocessor based computation means for performing the mathematical computation to control the trajectories of -the arm and common microprocessor based coordinating control means for coordinating the activities of the other modular microprocessor based control means. Accessing means is associated with the bus for providing each of the microprocessor based control means with direct, exclusive access to the bus during respective time intervals. The common memory serves as a depository for messages to and from the microprocessor based control means to enable intercommunication between the microprocessor based control means accessing the bus.

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