[rescue] Anyone Familiar with VMEbus?
mcguire at neurotica.com
Fri Sep 17 15:40:57 CDT 2021
On 9/17/21 4:15 PM, John Hudak wrote:
> One doesn't need 'modern hardware' to control that arm. I was doing it wan
> a DEC LSI11 and later with a 11/73. There was a Intel 86x box in the lab
> which could have been used as well. Most of the code I developed was in
> assembler, and some C. Yea, standard approach is to take the small voltage
> outputs of the d/a's and have that as inputs to the servo amps. My gig was
> applying/developing modern control theory approaches to construct observers
> to refine the time to position and accuracy in 3-space, avoiding the
> dreaded overshoot problem. Had to prove to one of my instructors that you
> can't change physics/law of nature with software..the beauty was in the
> math model...but that is another story.....
Want to do it again, with another PDP-11? We have some disused
robots up here..
Dave McGuire, AK4HZ
New Kensington, PA
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