A universal computer control system for motors

A control system for a multi-motor system such as a space telerobot, having a remote computational node and a local computational node interconnected with one another by a high speed data link is described. A Universal Computer Control System (UCCS) for the telerobot is located at each node. Each node is provided with a multibus computer system which is characterized by a plurality of processors with all processors being connected to a common bus, and including at least one command processor. The command processor communicates over the bus with a plurality of joint controller cards. A plurality of direct current torque motors, of the type used in telerobot joints and telerobot hand-held controllers, are connected to the controller cards and responds to digital control signals from the command processor. Essential motor operating parameters are sensed by analog sensing circuits and the sensed analog signals are converted to digital signals for storage at the controller cards where such signals can be read during an address read/write cycle of the command processing processor

Вільна система ЧПУ для верстата паралельної структури

Application of LinuxCNC (open-source Linux based CNC software) to control parallel kinematic machine tools is considered. A control architecture and configuration files developed for LinuxCNC parallel kinematics machine tool with Stewart platform. Розглянуто використання вільної системи ЧПУ LinuxCNC з відкритим кодом для управління верстатами паралельної структури. Запропоновано структурну схему та файли конфігурації системи управління, використаної для верстата паралельної структури на основі платформи Стюарта

On the development of a MODEM for data transmission and control of electrical household appliances using the low-voltage power-line

This paper presents a CMOS 0,6μm mixed-signal MODEM ASIC for data transmission on the low-voltage power line. The circuit includes all the analog circuitry needed for input interfacing and modulation/demodulation (PLL-based frequency synthesis, slave filter banks with PLL master VCO for tuning, decision circuitry, etc.) plus the logic circuitry needed for control purposes. The circuit operates correctly in the whole industrial temperature range, from -45 to 80°C, under 5% variations of the 3.3V supply voltage.Comisión Interministerial de Ciencia y Tecnología FD97-1611(TIC)Ministerio de Ciencia y Tecnología TIC200 1-092

A fully integrated 24-GHz phased-array transmitter in CMOS

This paper presents the first fully integrated 24-GHz phased-array transmitter designed using 0.18-/spl mu/m CMOS transistors. The four-element array includes four on-chip CMOS power amplifiers, with outputs matched to 50 /spl Omega/, that are each capable of generating up to 14.5 dBm of output power at 24 GHz. The heterodyne transmitter has a two-step quadrature up-conversion architecture with local oscillator (LO) frequencies of 4.8 and 19.2 GHz, which are generated by an on-chip frequency synthesizer. Four-bit LO path phase shifting is implemented in each element at 19.2 GHz, and the transmitter achieves a peak-to-null ratio of 23 dB with raw beam-steering resolution of 7/spl deg/ for radiation normal to the array. The transmitter can support data rates of 500 Mb/s on each channel (with BPSK modulation) and occupies 6.8 mm /spl times/ 2.1 mm of die area