Title :
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
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;
Conference_Titel :
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location :
Bukowy Dworek
Print_ISBN :
83-7143-515-0
DOI :
10.1109/ROMOCO.2001.973438
