Support Circuitry for Local Bus Integrity Checking in Robotics Applications
Original Publication Date: 1987-Sep-01
Included in the Prior Art Database: 2005-Feb-01
This article describes a circuit arrangement which enhances the safe operation of a robot manipulator by insuring the integrity of a local bus used by robot controllers. The circuit arrangement, disclosed herein, is being applied to a robot which utilizes a processor card in conjunction with an interface card to provide control to a single motor. The processor provides desired positions as well as the control algorithm. The interface card, which is connected to the processor card through a local bus, provides the interface to the motor amplifier and position feedback circuitry. Fig. 1 is a block diagram which represents the relationship of the local bus with the other elements of the motor control system. Fig.