The innovation addressed in this project is a small, light-weight, high capability, multi-processor telerobotic controller system. The system consists of an interconnection of several robotic joint controllers, end effector controllers, and a single master controller communicating through a high-speed, serial communication bus. The master controller controls communication with the various joint controllers in a time-multiplexed manner and synchronizes their activity. Since the system is totally synchronized, the time of occurrence for each measurement and controls application is known precisely all through the system, allowing for compensation for any cross-coupling effects. Both single and dual axis controllers can be developed. A single axis controller would be about 3" x 4.24" and be almost totally self-contained. It will require only 28 V DC and a serial communication link as a tie in with the rest of the system. The controller will control a three-phase, brushless motor requiring up to 20 amps at 15 to 50 V DC. Algorithms utilizing modern control and estimation theory will be included in the controllerThe technical objective of the Phase I effort was to perform a conceptual design of the telerobotic digital controller system and to provide a development plan. The objective was further to demonstrate that the project was feasible. These objectives were definitely met. The system is feasible and can be developed within time and other constraints of this program.Potential Commercial Application:This telerobotic digital controller system applies to robotics in general and should find many and varied applications in space and on the ground. In addition, the joint controllers are actually very general servo-controllers which could be utilized for pointing, tracking, and other control system applications of all types.STATUS: Project Proceded to Phase II
