Multiprocessor position/velocity servo control for multiaxis digital robot control system

DETAILED DESCRIPTION A robot arm has a plurality of motor driven joints energized by respective power amplifiers.
Respective feedback control loop means control the power amplifiers.
Each of the feedback control loop means includes at least digital position and velocity control loops and at least one servo control means is provided for performing position/velocity control support tasks and position/velocity calculation tasks in the position/velocity control loops for all of the joint motors.
The servo control means includes a first microprocessor for performing position/velocity calculation tasks including computing output torque control commands from stored position/velocity control algorithms.
A second microprocessor manages the operation of the position/velocity control and performs servo control support tasks including the routing of control command, status and feedback data to and from the microprocessor calculator.
The microprocessor calculator has a relatively high computing performance capability and a relatively low data processing interface capability, and the position/velocity control manager has a relatively high data processing capability.
Communication interfacing is provided for the paired microprocessors relative to each other and relative to higher and lower level control circuitry so as to enable the servo control means to operate the position/velocity control loop for each joint motor.