STAND-ALONE PROGRAMMABLE CONTROLLER FOR TIME-CRITICAL ROBOTIC SYSTEMS

This paper proposes and describes a new technique in the design and implementation of stand-alone programmable controllers which implement complex control algorithms for complex systems in general and time-critical systems in particular. Unlike other existing commercially available controllers, the proposed controller is capable of implementing all kinds of simple and complex control algorithm techniques such as PIDs, adaptive, optimal, etc. The controller is designed to handle timed events accurately due to the utilization of a new software approach based on the Petri net technique as well as the use of an optimized simulation language designed for control and data acquisition applications. The most significant aspects of the proposed controller are its low cost, high speed, and easy implementation. Using the new approach, it is possible to effortlessly and efficiently simulate any controller algorithm and controlled plant, verify results if they meet pre-defined system specifications and then immediately generate and save codes on EPROMs to be placed on the controller board. The proposed controller system consists of a hardware portion and a software package. The software package is written in C and assembly languages and consists of four different programs. A prototype of the proposed controller was designed, constructed and successfully tested to implement various control algorithms. The data obtained suggest that the proposed technique will significantly aid engineers to simplify the task of implementing complex algorithms in industry such as robotics.