Supervisory Control of Single Axis Controllers for Modular Robotic Systems Using a Serial Interface

  • T. W. Thatcher
  • R. H. Weston
  • P. R. Moore
  • R. Harrison

Summary

A microprocessor-based controller for a range of pneumatically-actuated, servo-controlled, single degree of freedom, modular robotic units is now available in commercial form. This product, known as a single axis controller (SAC), is the result of SERC sponsored collaborative work by the Department of Engineering Production at Loughborough University of Technology (LUT) and Martonair UK. To co-ordinate the activities of a number of these units a supervisory controller is required. Such supervisors may communicate with SACs via either a serial or a parallel interface. This paper describes the facilities available to a supervisory controller using the serial interface and provides an example of their use.

Keywords

Supervisory Control Serial Port Metal Ring Ready Signal Serial Interface 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    Moore P R, Weston R H, Thatcher T W and Gascoigne J D (1983) Modular Robot Systems Proceedings of 2nd IASTED International Symposium on Robotics and Automation. Lugano, Switzerland, June.Google Scholar
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    Thatcher T W, Weston R H, Moore P R and Gascoigne J D (1984) Software Design for Modular Robots Int. J of Production Research, Vol. 22, 1, 71–84.CrossRefGoogle Scholar
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    Weston R H, Moore P R, Thatcher T W and Morgan G (1984) Computer-controlled Pneumatic Servo-drives Proceedings of the Institution of Mechanical Engineers, Vol. 198B, 14.Google Scholar
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    Harrison R, Weston R H, Moore P R and Thatcher T W (1986) The Industrial Application of Pneumatic Servo-controlled Modular Robots Advances in Manufacturing Technology, Kogan Page, London, pp 229–236.Google Scholar
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    Morgan G (1985) Programmable positioning of Pneumatic actuators Journal of Applied Pneumatics, Vol. 11, 82, May.Google Scholar
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    Thatcher T W, Weston R H, Moore P R and Harrison R (1985) Single Axis Controllers for Modular Workhandling Systems Proceedings of 7th IASTED International Symposium on Robotics and Automation, Lugano, Switzerland, June.Google Scholar

Copyright information

© Springer Science+Business Media New York 1986

Authors and Affiliations

  • T. W. Thatcher
    • 1
  • R. H. Weston
    • 1
  • P. R. Moore
    • 1
  • R. Harrison
    • 1
  1. 1.Department of Engineering ProductionLoughborough University of TechnologyLoughborough, LeicestershireUK

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