MICROPROCESSOR-BASED ROBOTICS CONTROLLER.

An Intel single board computer (8085) is used to design a robotics controller, which is unique in the absence of any analog signals and the software specification of all operating parameters. Six servo motors are position profiled with pulse-width modulated outputs from the timer on expanded iSBC80/24 board, after the current and voltage conditioning. The position loop is closed by software interpretation of the incremental signals of the axis digital encoders. Pulse-width is thus calculated in real time based on position error. Under software control and user-changable during operation are a variety of parameters which finely tune the system in terms of smoothness and stability: bias, gain, integration, position sampling rate, pulse-width update rate and position update rate. In the LEARN mode, the robot can memorize a series of operations, manipulated by the user. Useful tasks are then performed by instructing the system to execute a sequence of profiled moves through a series of learned endpoints.