Control and Electronic Subsystems for the Advanced Servomanipulator

摘要

The advanced servomanipulator (ASM) represents a new generation of electrically driven force-reflecting manipulator systems designed to be remotely maintainable. This ASM is being developed to perform remote maintenance in a nuclear fuel reprocessing plant where human access is not allowed. The primary function of the manipulator control system is to maintain stable, accurate master/slave operation while providing sensitive force reflection to the operator. The control system is based upon tightly coupled distributed digital microprocessing methods. The architectural structure of the control system is outlined and is compared to the previously developed Model M-2 control system, and justification for the advances incorporated into the ASM structure are given. The various modes of operation and diagnostics are described, and throughput requirements associated with joint servo-control and counter-balancing are discussed. The fundamental elements of the control system are reviewed, including the processor selection (Motorola MC68000) and the language (FORTH). The purpose of this document is to review the design decisions and the resulting design selections to serve as a base for future improvements. Four main areas will be covered: (1) system overview, (2) hardware implementation, (3) software partitioning, and (4) remote electronics considerations. Each area will address the specifics of the selected equipment or the functional requirements of the control method. 9 references, 4 figures. (ERA citation 09:047474)