Transputerised Multi Microprocessor System for Real Time Control of Contour Path Robots

Paper presents a transputerised multi-microprocessor acquisition and processing system, which provides the implementation of the control algorithm in Carthesian coordinates of the position of contour path robots. This based on real-time digital processing of the Jacobian matrix obtained from direct kinematics model, respectively of the inverse Jacobian matrix for close loop control of the position on six degrees of freedom. There is presented the method of computation in real time of the inverse Jacobian matrix, topology of transputers networks and the data flux corresponding to implementation of the multi-microprocessor system for path control of industrial robots. There are also analysed methods for improving performances of the transputerised multiprocessor system for position control of the robot on six axis of freedom with the goal of reducing the execution time.