Control PDF

VMEbus NSC EB8-10 T800 0

T800 1

T800 4

T800 5

T800 8

T800 2

T800 3

T800 6

T800 7

IMS B011

HOST SUN

Configuration Link

T800 13

Links

T800 14

T800 15

T800 16

Programmable Link Switch C004

Connector

T800 12

T800 11

T800 10

T800 9 TBE02

Link Adapter

RESET

A

8

Q C011

Transputer Link

4 -20 mA

TLC 7528 B A/B STB

8

I

4 - 20 mA

D/A

CLK 5 MHz CLK

Q

CLK

Phase A

HCTL2000

Phase B

RST OE SEL

Z Position

Transputer Link

C011

Decoder I

RESET

A

8

0-5V

AD7824

Link Adapter

B

0-5V

A/B A/D +8 V

Regulators

-8V

FP-3000

T800

JOINT 5

INTERFACE

FUZZY NODE

INTERFACE

T800

INTERFACE

T800 JOINT 4

B011 Board

T800

T800

INTERFACE

JOINT 3

T800

INTERFACE

JOINT 2

T800

INTERFACE

JOINT 1 HOST

MASTERCONTROLLER

JOINTCONTROLLERS

SOFT ARM

FUZZY NODE FUZZY LOGIC

FUZZY DRIVER

JOINT NODE

FUZZY

CONTROL PARAMETERS

COMMUNICATION

REAL-TIME CLOCK

EXECUTOR

HOST HOST

COMMAND

COMMUNICATION INTERPRETER

JOINTS COMMUNICATION

JOINT COMMUNICATION

CONTROLLER

KINEMATIC

I/O MODEL

MASTER NODE PRESSURE A

JOINT

PRESSURE B

POSITION

INTERFACE

Extra Node T800

T800

INTERFACE

JOINT 5

T800

T800

INTERFACE

JOINT 4 Link T800

Voting

T800

INTERFACE

Switch JOINT 3

T800

T800

INTERFACE

T800

INTERFACE

JOINT 2

FP-3000

INTERFACE

T800

JOINT 1

FUZZY NODE MASTER CONTROLLER

JOINT CONTROLLERS

SOFT ARM

OUTPUT #1

400 200 0 -200 -400 10

11

12

13

14

15

16

17

18

19

20

17

18

19

20

INPUT #1 10

0

-10 10

10 2

11

12

13

14

15

16

AMPLITUDE PLOT, input # 1 output # 1

10 1

10 0 10 -1

10 0

10 1

10 2

frequency (rad/sec) 0

PHASE PLOT, input # 1 output # 1

-50 e s a h p

-100 -150 -200 10 -1

10 0

10 1 frequency (rad/sec)

10 2

90

85

80

75 e l g n a

70

65 60

55

0

1000

2000

3000

4000

5000

time-msec

6000

7000

8000

9000

90

85

80

75 e l g n a

70

65 60

55

0

1000

2000

3000

4000

5000

time-msec

6000

7000

8000

9000

Inner Rubber

Fiber Layer

Metals Fitting

Tube

Chain

Pully

Link Rubbertuator Decreased Pressure

Increased Pressure