An application specific integrated circuit for dual-axis motion control

Conference · Sun Jan 01 00:00:00 EST 1989

OSTI ID:6277449

Zimmermann, S D; Satterlee, Jr, P E; Bouldin, D W

An Application Specific Integrated Circuit (ASIC) for dual-axis robotic motion control was designed and developed with Computer Aided Design (CAD) tools. The ASIC provides an all digital dual-axis Pulse Width Modulated (PWM) amplifier interface. The ASIC layout was produced on a SUN workstation using VLSI design tools. A standard cell library of basic digital functions and an automatic placement and autorouting program was used in the course of the design. The design was implemented in a 2-micron Scalable CMOS (SCMOS) technology through the Metal Oxide Semiconductor Implementation Service (MOSIS). The device was fabricated in both 40-pin ceramic DIP and 44-pin Plastic Leaded Chip Carrier (PLCC) packages. The dual-axis PWM controller chip was designed as part of a complete dual-arm, force-reflecting, master-slave telerobotic manipulator system and provides a 24 KHz PWM drive signal and control for a two-axis, 500-watt amplifier module. The device interfaces to a microprocessor bus and requires only 100 mW of power at 12 MHz operation. 6 refs., 5 figs.

• Research Organization: TeleRobotics International, Inc., Knoxville, TN (USA)
• DOE Contract Number: AC05-86ER80399
• OSTI ID: 6277449
• Report Number(s): CONF-8904111-5; ON: DE89007974
• Resource Relation: Conference: Southeastcon '89 conference and exhibition, Columbia, SC, USA, 9 Apr 1989; Other Information: Paper copy only, copy does not permit microfiche production
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
INTEGRATED CIRCUITS
COMPUTER-AIDED DESIGN
ELECTRIC CONTROLLERS
MANIPULATORS
MICROPROCESSORS
PERFORMANCE
ROBOTS
COMPUTERS
CONTROL EQUIPMENT
ELECTRONIC CIRCUITS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
MICROELECTRONIC CIRCUITS
REMOTE HANDLING EQUIPMENT
420800* - Engineering- Electronic Circuits & Devices- (-1989)
420200 - Engineering- Facilities
Equipment
& Techniques
990220 - Computers
Computerized Models
& Computer Programs- (1987-1989)