@inproceedings { 2645023, title = {Arithmetic processor chip for robot control}, journal = {1985 International Symposium on VLSI Technology, Systems and Applications. Proceedings of Technical Papers}, year = {1985}, note = {4 micron design rules;APR;microprocessor chips;position control;robot control;arithmetic processor chip;CMOS technology;slave processor;robot arm;coordinate transformation calculations;real-time control applications;parallel-processing;multipipelined architecture;microprogrammable processor;}, pages = {337 - 41}, type = {inproceedings}, address = {Taipei, Taiwan}, abstract = {An arithmetic processor chip for use in robotics has been designed in 4 μm CMOS technology. The chip functions as a slave processor to a general purpose microprocessor host and is able to perform robot arm coordinate transformation calculations for use in real-time control applications. A parallel-processing, multipipelined architecture is used to produce a 45 mm2 chip for which a machine cycle time of 200 ns appears possible. The general nature of the architecture of this microprogrammable processor renders it useful for a range of computational tasks in robotics}, keywords = {CMOS integrated circuits;computerised control;digital arithmetic;microprocessor chips;microprogramming;parallel processing;pipeline processing;position control;real-time systems;robots;satellite computers;}, author = { Poon, J.K. and Pulfrey, D.L. and Lawrence, P.D.} }