Performance evaluation of processor architectures for robotics

Caselli, Stefano; Faldella, E.; Zanichelli, Francesco

doi:10.1109/cmpeur.1991.257469

Cited by 9 publications

(3 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Now, we want to update our interface to use it in a PCI bus [3,4] based computer thus increasing the communication bandwidth between the PC and the MC68000 system. Furthermore, as the i486 processor, Pentium II [5] and latter processors are also suitable to emulate the MC68000 bus and substitute this processor in industrial applications [6].…”

Section: Introductionmentioning

confidence: 99%

Application of bus emulation techniques to the design of a PCI/MC68000 bridge

Corral

Balcells

Jiménez-Moreno

et al. 2002

Microprocessors and Microsystems

View full text Add to dashboard Cite

Section: Introductionmentioning

confidence: 99%

Application of bus emulation techniques to the design of a PCI/MC68000 bridge

Corral

Balcells

Jiménez-Moreno

et al. 2002

Microprocessors and Microsystems

View full text Add to dashboard Cite

“…The reason is that the DSPs execute pure filter algorithms very efficiently, but inte- grating action and the necessary wind-up protection contains logic that breaks the floating point pipeline in a very undesirable way. The M68040 CPU, on the other hand, is better suited for general control tasks [13]. Sampling frequencies up to 1 kHz were used on the master CPU, whereas frequencies up to 24 kHz was used on the DSP part.…”

Section: Motor Control Examplementioning

confidence: 99%

Integrated architecture for industrial robot programming and control

Nilsson

Johansson

1999

Robotics and Autonomous Systems

View full text Add to dashboard Cite

As robot control systems are traditionally closed, it is difficult to add supplementary intelligence. Accordingly, as based on a new notion of user views, a layered system architecture is proposed. Bearing in mind such industrial demands as computing efficiency and simple factory-floor operation, the control layers are parameterized by means of functional operators consisting of pieces of compiled code that can be passed as parameters between the layers. The required interplay between application-specific programs and built-in motion control is thereby efficiently accomplished. The results from experimental evaluation and several case studies suggest the architecture to be very useful also in an industrial context.

show abstract

“…The compiler therefore inserts sufficiently many nop-instructions before a functions call (and before the return of a function) in order to empty the pipeline. Clearly, the computing performance then decreases to that of an ordinary microprocessor [5]. This was the motivation for our C++/assembly interface, mentioned in Section 2 and utilized below.…”

Section: Pipelining In a Floating Point Dspmentioning

confidence: 96%

Software for embedded DSPs

Nilsson¹

Proceedings of 1994 American Control Conference - ACC '94

View full text Add to dashboard Cite

Digital Signal Processors (DSPs) have become a frequently used component in embedded control systems. DSPs are today often used in quite complez applications, often tightly connected with other types of microprocessors. The complezity and size of the software makes it important to achieve modularity and code reuse in combination with eficient ezecutions on the DSP hardware.Software aspects for embedded DSPs have been investigated based on an application ezample from robot control. Some identified problems like modularity, encapsulation of hardware features, management of shared data, and inteFfacing to sensors, have been solved using object oriented programming and the C++ language.Other problems concerning concurrency and real-time aspects of DSP programming show the need for further research.

show abstract

Performance evaluation of processor architectures for robotics

Cited by 9 publications

References 18 publications

Application of bus emulation techniques to the design of a PCI/MC68000 bridge

Application of bus emulation techniques to the design of a PCI/MC68000 bridge

Integrated architecture for industrial robot programming and control

Software for embedded DSPs

Contact Info

Product

Resources

About