Abstrato

An Application Specific Integrated Circuit for Dual-Axis Motion Control

Saravana.S

An Application Specific Integrated Circuit (ASIC) for dual axis robotic motion control was designed and developed with Computer Aided Design (CAD) tools. The ASIC provides an all-digital dual-axis Pulse Width Modulated (PWM) amplifier interface. The ASIC layout was produced on a SUN workstation using all design tools. A standard cell library of basic digital functions and an automatic placement and autorouting program was used in the course of the design. The design was implemented in 2-micron Scalable CMOS (SCMOS) technology through the Metal Oxide Semiconductor implementation Service (MOSIS). The device was fabricated in both 40-pin ceramic DIP and 44-pin Plastic Leaded Chip Carrier (PLCC) packages. The dual-axis PWM controller chip was designed as part of a complete dual-arm, forcereflecting, master-slave telerobotic manipulator system and provides a 24 KHz PWM drive signal and control for a twoaxis, 500-watt amplifier module. The device interfaces to a microprocessor bus and requires only 100 MW of power at 12 MHz operation.