An Intelligent Industrial Arm Using a Microprocessor

1 August 1975

journal article
Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Industrial Electronics and Control Instrumentation

Vol. IECI-22 (3) , 309-314
https://doi.org/10.1109/tieci.1975.351275

Abstract

A system to control a hydraulic industrial arm using a 4-bit microcomputer is described. A supervisory minicomputer can handle global routines such as scene analysis and task and trajectory planing while the microcomputer attends to the control of the arm. The microcomputer monitors arm joint positions and sensors, and maintains current joint position when no motion is desired. The supervisory minicomputer transfers a job to the microcomputer in the form of a sequence of macro-commands. The microcomputer interprets and executes the job and returns the final status of the arm to the minicoputer.

Keywords

MICROPROCESSORS
MICROCOMPUTERS
CONTROL SYSTEMS
ELECTRICAL EQUIPMENT INDUSTRY
TIME SHARING COMPUTER SYSTEMS
FINGERS
TRAJECTORY
INDUSTRIAL CONTROL
IMAGE ANALYSIS
POTENTIOMETERS

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