Posted by Jerky on November 12, 1999 at 23:16:36:
In Reply to: the rest could be found here posted by Jerky on November 12, 1999 at 22:57:09:
Parallel I/O is used to communicate with the robot and peripheral devices and pulses must be generated to control
them. The Atlas robot has 6 axes of motion, but it does not have position feedback. Instead each axis has a datum
(start) position, a limit detector and an accurate stepper motor for movement. The robot will have to be callibrated to
determine how many pulses are needed to move each axis a given distance and rates of pulses to give varying
speeds. Similar stepper motors drive the measuring callipers and the bins' rotating pedestal. Optical encoders provide
positional feedback for these devices. The load cell is based on a strain gauge with an A/D converter returning an
8-bit value.
Link here