Microprocessors play a dominant role in computer technology and have contributed uniquely in the development of many new concepts and design techniques for modem industrial systems. This contribution is excessively high in the area of robotic and manufacturing systems. However, it is the editor's feeling that a reference book describing this contribution in a cohesive way and covering the major hardware and software issues is lacking. The purpose of this book is exactly to fill in this gap through the collection and presentation of the experience of a number of experts and professionals working in different academic and industrial environments. The book is divided in three parts. Part 1 involves the first four chapters and deals with the utilization of microprocessors and digital signal processors ( DSPs ) for the computation of robot dynamics. The emphasis here is on parallel computation with particular problems attacked being task granularity, task allocation/scheduling and communication issues. Chapter I, by Zheng and Hemami, is concerned with the real-time multiprocessor computation of torques in robot control systems via the Newton-Euler equations. This reduces substantially the height of the evaluation tree which leads to more effective parallel processing. Chapter 2, by D'Hollander, examines thoroughly the automatic scheduling of the Newton-Euler inverse dynamic equations. The automatic program decomposition and scheduling techniques developed are embedded in a tool used to generate multiprocessor schedules from a high-level language program.
Robotic and manufacturing systems have gained increasing attention at both the academic and industrial levels. A key component in their development is the microprocessor, which offers increased functional capabilities at reduced costs. "Microprocessors in Robotic and Manufacturing Systems" provides a balanced, state-of-the-art presentation of the involvement of microprocessors in the design and operation of modern robotic and manufacturing systems. Prepared by a distinguished team of experts, the book covers a wide repertory of topics, including the latest developments in the field together with fresh, original results derived by the contributors. The book provides a unique, cohesive reference source providing access to the most current advances in the microprocessor-based robotics and manufacturing field.
A subset of the topics covered is the following: computation of robot dynamics by multiprocessor schemes; numerical applications of digital signal processors in robotic computations; automatic scheduling of the Newton-Euler Inverse Dynamics; microprocessor-based controllers for robotic manipulators; design aspects of a robot coordinated by a desktop computer; collision strategies for robotic retreat and resistance: microprocessor based implementations; microprocessor based intelligent welding systems; microprocessors in robotic/machine vison computer-controlled integrated manufacturing systems; microcomputer expert system tools for robotic and manufacturing operations. The reader can save considerable time in searching the scattered technical information on the application of microprocessors to industrial robots and flexible manufacturing systems. The professional can have readily available a rich set of important analysis, design and operational results.
