Real-Time Robot Motion: The VLSI Implementation Via Transputers

An on-line trajectory generator has been implemented for the control of robot manipulators. The computational complexities associated with such a task have been reduced significantly through distributing it on a multiprocessor system, where the minimum-time motion of the robot is planned in real-time. In particular, the distributed structure employing the transputer machines emphasise the practicality and efficiency of the proposed system. Simulation results of a case study are presented for puma 560 robot manipulator.