Microprocessors in Robotic and Manufacturing Systems

  • Spyros G. Tzafestas

Part of the Microprocessor-Based Systems Engineering book series (ISCA, volume 6)

Table of contents

  1. Front Matter
    Pages i-xv
  2. Robotic Computations

    1. Front Matter
      Pages 1-1
    2. Yuan F. Zheng, Hooshang Hemami
      Pages 3-30
    3. A. Di Stefano, O. Mirabella
      Pages 49-77
  3. Robotic Control and Vision

    1. Front Matter
      Pages 101-101
    2. J. A. Tenreiro Machado, J. L. Martins de Carvalho
      Pages 103-129
    3. R. E. Goddard, K. L. Boyer, H. Hemami
      Pages 177-215
    4. A. T. de Almeida, U. C. Nunes, J. M. Dias, H. J. Araujo, J. Batista
      Pages 217-235
    5. Erik H. D’Hollander
      Pages 237-257
  4. Manufacturing Systems

    1. Front Matter
      Pages 259-259
    2. J. Richard, F. Lepage, G. Morel
      Pages 311-333
    3. P. Hodaie, B. Chan, B. Szabados, O. Storoshchuk
      Pages 335-351
    4. Michael Aiello, Ronald Rekowski, Marc Bodson, John Chiasson, David Schuerer
      Pages 353-368
    5. Jorge Haddock, Young Chul Kim
      Pages 385-402
  5. Back Matter
    Pages 403-411

About this book


Microprocessors play a dominant role in computer technology and have contributed uniquely in the development of many new concepts and design techniques for modem industrial systems. This contribution is excessively high in the area of robotic and manufacturing systems. However, it is the editor's feeling that a reference book describing this contribution in a cohesive way and covering the major hardware and software issues is lacking. The purpose of this book is exactly to fill in this gap through the collection and presentation of the experience of a number of experts and professionals working in different academic and industrial environments. The book is divided in three parts. Part 1 involves the first four chapters and deals with the utilization of microprocessors and digital signal processors ( DSPs ) for the computation of robot dynamics. The emphasis here is on parallel computation with particular problems attacked being task granularity, task allocation/scheduling and communication issues. Chapter I, by Zheng and Hemami, is concerned with the real-time multiprocessor computation of torques in robot control systems via the Newton-Euler equations. This reduces substantially the height of the evaluation tree which leads to more effective parallel processing. Chapter 2, by D'Hollander, examines thoroughly the automatic scheduling of the Newton-Euler inverse dynamic equations. The automatic program decomposition and scheduling techniques developed are embedded in a tool used to generate multiprocessor schedules from a high-level language program.


Filter Motor Sensor actuator algorithms automation communication control algorithm data acquisition digital signal processor kinematics microprocessor programmable logic controller robotics sensing

Editors and affiliations

  • Spyros G. Tzafestas
    • 1
  1. 1.Department of Electrical EngineeringNational Technical University of AthensAthensGreece

Bibliographic information