A Multi-Microprocessor System for the Control of Robot ...pdf)/Journal_2.pdfA Multi-Microprocessor...

A Multi-Microprocessor System for the Control of Robot Welders M. Al-Mouhamed (1) and H. A. Al Mohammad (2) (1) Department of Computer Engineering King Fahd University of Petroleum and Minerals (KFUPM) 31261 Dhahran, Saudi Arabia (2) Department of Systems Engineering King Fahd University of Petroleum and Minerals (KFUPM) 31261 Dhahran, Saudi Arabia Abstract: This paper deals with a multi-processor system to solve problems due to the increasing complexity of robotic welding process and associated models. The system functions are analyzed and a design is obtained by partitioning the system controller into functional blocks. Six block units are defined and designed to support the implementation of the above functional blocks and to accommodate parallel processing operations. A low refresh rate (5 ms period) is obtained in controlling the overall system. Keywords: robotics, welding, robot control, parallel processing of robot kinematics.

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Transcript of A Multi-Microprocessor System for the Control of Robot ...pdf)/Journal_2.pdfA Multi-Microprocessor...

A Multi-Microprocessor System for the Control of Robot Welders

M. Al-Mouhamed (1) and H. A. Al Mohammad (2)

(1) Department of Computer Engineering King Fahd University of Petroleum and Minerals (KFUPM)

31261 Dhahran, Saudi Arabia

(2) Department of Systems Engineering King Fahd University of Petroleum and Minerals (KFUPM)

31261 Dhahran, Saudi Arabia

Abstract: This paper deals with a multi-processor system to solve problems due to the increasing complexity of robotic welding process and associated models. The system functions are analyzed and a design is obtained by partitioning the system controller into functional blocks. Six block units are defined and designed to support the implementation of the above functional blocks and to accommodate parallel processing operations. A low refresh rate (5 ms period) is obtained in controlling the overall system. Keywords: robotics, welding, robot control, parallel processing of robot kinematics.