Title :
PC as a Controller for Educational Robot ROBED
Author :
Jovanovic, Milos ; Vukobratovic, Miomir
Author_Institution :
Mihajlo Pupin Inst., Belgrade
Abstract :
PC based robot controller was designed and built to serve as a research tool for investigation of practical and theoretical aspects of various control strategies in robotics and for industrial application. Pentium II based system was used for running AMX operation servo software. Special ISA-to-PC104 interface board was designed to handle input/output signals from the joint axes of the robot manipulator. This general-purpose controller is capable of driving robot manipulators equipped with any type of servomotors, position optical encoders and joint limit sensors (optical or mechanical). All software is written in C and assembler
Keywords :
control engineering computing; manipulators; AMX operation servo software; C programming language; DIGIO; ENCDA; ISA-to-PC104 interface board; PC based robot controller; Pentium II based system; assembler; educational robot ROBED-03; emergency chain; joint limit sensors; position optical encoders; robot manipulator; servomotors; Application software; Educational robots; Electrical equipment industry; Industrial control; Manipulators; Optical sensors; Robot control; Robot sensing systems; Service robots; Servomechanisms; DIGIO; ENCDA; PC; driver; emergency chain; encoder; host; joint; robot controller;
Conference_Titel :
Computer as a Tool, 2005. EUROCON 2005.The International Conference on
Conference_Location :
Belgrade
Print_ISBN :
1-4244-0049-X
DOI :
10.1109/EURCON.2005.1629998
