Masters Theses

Raj R. Kumar

Date of Award

8-1988

Degree Type

Thesis

Degree Name

Master of Science

Major

Electrical Engineering

Major Professor

Donald W. Bouldin

Committee Members

M. A. Abidi, Marshall O. Pace

Abstract

The Dual Axis Manipulator Element (DAME) project is a research effort aimed at servoloop processing and signal conditioning in a robotic envoirnment. The objective is to build a complete DAME, including extensive software development, to control a pair of servomotors within the joint of a servo-manipulator. Its unique feature and the purpose of this research is the design and implementation of a 64-pin custom designed VLSI chip, the Dual Axis Robotic Controller (DARC). Two other chips, a 28-pin Pulse Width Modulator (PWM), and an alternative, a 40-pin Dual Pulse Width Modulator with Digital Interface (PWM2) are also designed with the use of the standard cell library. This thesis presents a conceptual description of the DAME project and emphasizes its importance as a fundamental building block of an advanced telerobotic system. Strategies adopted in the design, implemention, and testing of DARC are discussed in detail. A new, semi-automated approach, encountered in the design of PWM and PWM2 are discussed. A relative comparison between the standard cell design (PWM and PWM2) and the custom design (DARC) is highlighted.

DARC implements optical decoders, pulse-width modulators, and a coprocessor interface. Fabricated in the 3%mu; SCMOS technology it has the advantages of miniaturization of the servo electronics, very high reliability, and unparalleled precision. It replaces several bulky cables, over 130 SSI/MSI CMOS and TTL circuits, and has a bit resolution far greater than what is available with off-the-shelf components. Novel circuit techniques in implementing DARC increase operating speeds and reduce clock skews and inductive noise.

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