Stand alone controller for robot automation

A description is presented of the hardware and software of a prototype low-cost stand-alone microprocessor-based programmable controller for the control and data acquisition of complex systems such as the ones found in robotic systems. The controller is built around the Intel 8096 microcontroller and is supported with a software package written in both high level and assembly languages. The proposed controller surpasses other controllers in its relative speed, low cost and easy implementation. A prototype of the controller is designed, constructed, and successfully tested to implement a PID algorithm to control a Mitsubishi RM-501 robot