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Ultra-Compact Transputer-Based Controller for High-Level, Multi-Axis Coordination
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External Online Source: http://www.techbriefs.com/component/content/article/15469
Author and Affiliation:
Zenowich, Brian(Barrett Technology, Inc., Cambridge, MA, United States);
Crowell, Adam(Barrett Technology, Inc., Cambridge, MA, United States);
Townsend, William T.(Barrett Technology, Inc., Cambridge, MA, United States)
Abstract: The design of machines that rely on arrays of servomotors such as robotic arms, orbital platforms, and combinations of both, imposes a heavy computational burden to coordinate their actions to perform coherent tasks. For example, the robotic equivalent of a person tracing a straight line in space requires enormously complex kinematics calculations, and complexity increases with the number of servo nodes. A new high-level architecture for coordinated servo-machine control enables a practical, distributed transputer alternative to conventional central processor electronics. The solution is inherently scalable, dramatically reduces bulkiness and number of conductor runs throughout the machine, requires only a fraction of the power, and is designed for cooling in a vacuum.
Publication Date: Jan 01, 2013
Document ID:
20130009423
(Acquired Feb 12, 2013)
Subject Category: CYBERNETICS, ARTIFICIAL INTELLIGENCE AND ROBOTICS
Report/Patent Number: MSC-24295-1
Document Type: NASA Tech Brief
Publication Information: NASA Tech Briefs, January 2013; 17; (SEE 20130009410)
Financial Sponsor: NASA Johnson Space Center; Houston, TX, United States
Organization Source: Barrett Technology, Inc.; Cambridge, MA, United States
Description: 1p; In English
Distribution Limits: Unclassified; Publicly available; Unlimited
Rights: Copyright; Distribution as joint owner in the copyright
NASA Terms: CONTROLLERS; COORDINATION; KINEMATICS; ROBOTICS; SERVOMECHANISMS; TRANSPUTERS; ARCHITECTURE (COMPUTERS); ROBOT CONTROL; ROBOT DYNAMICS; SERVOMOTORS; ROBOT ARMS
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