Integration of the robotic arm control system

The robotic arm control system (RACS) replaces the servo-level controller of the factory-supplied VAL controller (used with the PUMA 562 robot) for the purpose of implementing and testing advanced robot control algorithms. High-level operations can be performed either by RACS or by the VAL controller´s host-level processor. Major aspects of the RACS integration effort are described including hardware modifications, arm calibration processes and routines, firmware for the VAL controller interface and the RACS system software. Effectiveness and operation of RACS are demonstrated by implementation of the PD control algorithm