Title :
Design and simulation of RIPS: an advanced robot control system
Author :
Butner, Steven ; Wang, Yulun ; Mangaser, Amante ; Jordan, Steve
Author_Institution :
Center for Robotic Syst. in Microelectron., California Univ., Santa Barbara, CA, USA
Abstract :
The design and simulation of RIPS, a robotic instruction processing system, are discussed. The authors are building a prototype version of RIPS which will be used as a general research tool to study problems of robot control. The architecture of RIPS is geared for robot control, yet the system is general and fully programmable and does not assume any manipulator characteristics. There is sufficient computing capacity to address any of several important automation problems such as force control, multiple manipulator coordination, or manufacturing cell-level control. Simulations show that using RIPS to control a Stanford manipulator with the computed torque method gives an update rate of 255 μs. This simulation includes all interprocessor communication as well as the computing time necessary for equation evaluation
Keywords :
computerised control; control systems; robots; RIPS; Stanford manipulator; advanced robot control system; force control; interprocessor communication; manufacturing cell-level control; multiple manipulator coordination; research tool; robotic instruction processing system; Automatic control; Buildings; Communication system control; Computational modeling; Force control; Manipulators; Manufacturing automation; Prototypes; Robot control; Robot kinematics;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12096
