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Nbsir 86-3393

By Nashman, Marilyn

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Book Id: WPLBN0000693470
Format Type: PDF eBook
File Size: 956.06 KB.
Reproduction Date: 2005
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Title: Nbsir 86-3393  
Author: Nashman, Marilyn
Language: English
Subject: Technology., Reference materials, Technology and literature
Collections: Techonology eBook Collection
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Nashman, M. (n.d.). Nbsir 86-3393. Retrieved from

Technical Reference Publication

Abstract: This paper describes the High Speed Host Interface (HSHI) developed jointly by the Robot Systems Division at the National Bureau of Standards and the American Robot Corporation (AR). The High Speed Host Interface provides an interface between American Robot?s software and hardware and the user?s software at the lowest level of control-joint position, joint velocity, motor position, or motor velocity. It can operate at an update rate of 256 times per second or can be used at a level of control at an update rate of 7.5 times per second. The paper discusses the design of .HSHI and its capabilities as well as some possible applications for such a system.

Table of Contents
Table of Contents 1. Introduction 2. System Design and Protocol 3. Commands 4. Uses for the High Speed Host Interface 5. Conclusion 6. References Figures Figure 1: The American Robot Merlin Arm Figure 2: Control System Inputs and Outputs Figure 3: The Robot Origin and Coordinate Axes Figure 4: HSHl Architecture Figure 5: Optimal Host Program Design Tables Table 1: Common Memory 'Map ,Table 2 : Common Memory Handshake Bufier Table 3 ; HSHl Commands 1 2 4 8 9 10 Appendix A HSHI Data Structures Appendix B Joint/Motor Conversions Appendix C: Subroutine Library


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