开发和测试一种新的先进的基于DSP的机器人驱动控制体系结构

Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics Pub Date : 1993-11-15 DOI:10.1109/IECON.1993.339355

M. Marchesoni, G. Rossi, A. Scaglia, P. Segarich

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引用次数: 5

摘要

作者开发了一种面向多变量实时机器人驱动控制系统的多处理器架构。这种结构能够充分利用AT&T DSP32C数字信号处理器强大的计算能力和摩托罗拉MC68332单片机外设子系统控制的灵活性。利用单片机和DSP开发环境进行了硬件和软件测试，并建立了一个汇编语言软件库，包括系统管理的例程。对整个系统进行了介绍，并对系统的实际实现进行了思考。此外，给出了工程方面的一般视图，并描述了一个应用实例。

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Development and test of a new advanced DSP based architecture for robotics drives control

A multiprocessor based architecture oriented towards multivariable real-time robotics drives control systems has been developed by the authors. This structure is able to exploit the digital signal processor AT&T DSP32C great computational power and the microcontroller Motorola MC68332 peripheral subsystem control flexibility. The microcontroller and DSP development environments have been used for hardware and software testing, and an assembler language software library, including routines for system management, has been created. The whole system is presented, and some considerations about its practical implementation are made. Moreover, a general view of the engineering aspects is offered, and an application example is described.<>

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Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics

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