Distributed control application for a robot manipulator

Author

Ramirez, M. ; Gonzalez, L.A. ; Ivankovic, Branco

Author_Institution

Centro de Investigacion y Desarrollo de Tecnologia Digital (CITEDI-IPN), Tijuana, Mexico

fYear

2001

fDate

2001

Firstpage

97

Lastpage

102

Abstract

Deals with a modular programming application for control of a robot manipulator from a computer network. The programming application is built around three programs run on independent platforms; a real time control program, a powerful robotics language, and a graphic user interface. The former is used to provide the commands to the control card of the robot, the main application of the second is as a module to calculate the kinematics of the robot, and the last is used for the straight operation and programming of tasks of the manipulator. The novel feature of the application is the use of a powerful programming language run from a real time, multitasking, multiuser operating system that allows the kinematic module be attended from more than a single robot simultaneously located in different places

Keywords

computer networks; distributed control; graphical user interfaces; manipulator kinematics; robot programming; telerobotics; computer network; control card; distributed control; graphic user interface; kinematics; modular programming; real time control program; real time multitasking multiuser operating system; robot manipulator; robotics language; Application software; Computer graphics; Computer languages; Computer networks; Distributed control; Kinematics; Manipulators; Robot control; Robot programming; User interfaces;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2001 Proceedings of the Second International Workshop on

Conference_Location

Bukowy Dworek

Print_ISBN

83-7143-515-0

Type

conf

DOI

10.1109/ROMOCO.2001.973438

Filename

973438