A Centralized Processing, Distributed I/O Motor Controller Based on IEEE 1394 for the Snake Robot

نویسندگان

  • Paul Thienphrapa
  • Peter Kazanzides
چکیده

Research in surgical robots often calls for multi-axis motor controllers and other I/O hardware for interfacing various devices with computers. To facilitate convenient prototyping of robots with large numbers of axes and I/O lines, it would be beneficial to have controllers that scale well in this regard. We would like to incorporate additional components to a system without necessitating an unwieldy increase in I/O devices, nor introduce too many disjoint software interfaces and environments. High speed serial buses such as IEEE 1394 (FireWire) make it possible to consolidate multiple data streams into a single cable, and contemporary computers have the computational resources to process such dense data streams. These factors motivate a centralized processing, distributed I/O control architecture, which is particularly advantageous for education and research. This paper documents the design, implementation, and testing of a motor controller and its associated API using this design approach. A real-time controller for the Johns Hopkins University Snake Robot, a novel, miniature, and dexterous surgical manipulator with many degrees of freedom, is developed that combines previous experience and the aforementioned motivations with readily available but powerful new technologies.

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تاریخ انتشار 2010