A general purpose VLSI chip for robot axis motion controller

A VLSI-based realization and implementation of an entire robot axis controller is proposed as a single-chip joint controller. This chip requires a 68000-bus family microprocessor (MP) and a power transistor module. It forms a three-component complete robot servo-level controller which correlates all joint electromechanical activities with the supervisor level (main robot CPU). The proposed chip is equipped with an on-chip RS485 port for communication with the CPU. It is also provided with a pin-to-pin interface to its accompanied MP. All joint digital and analog feedback signals connect directly to the chip.<
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