A single board computer for robot control

Author

Rasmussen, H.

Author_Institution

Inst. of Electron. Syst., Aalborg Univ., Denmark

fYear

1989

fDate

32819

Firstpage

42491

Lastpage

42494

Abstract

A general-purpose six-axis robotic manipulator controller is designed and built to serve as a research tool for investigation of practical aspects of various control strategies in robotics. The controller is implemented as a single board computer on a PC-board. Interfacing to the IBM PC host computer is performed through a dual port RAM. The principle is that seen from the PC the board is part of the RAM in which configuration values, servo references, feedforward and controller coefficients are written. The single board computer interprets the information in this RAM and thus carries out the specified control. It is possible to carry out gain scheduling by replacing the controller coefficients as a function of a scheduling signal. To test the functionality the controller is connected to the five joint motor power amplifiers of a prototype welding robot from Migatronic A/S

Keywords

add-on boards; computerised control; controllers; industrial robots; microcomputer applications; microcomputers; satellite computers; IBM PC host computer; Migatronic A/S; computerised control; configuration values; controller coefficients; dual port RAM; feedforward; five joint motor power amplifiers; gain scheduling; general-purpose six-axis robotic manipulator controller; industrial robots; microcomputers; robot control; satellite computers; servo references; single board computer; welding robot;

fLanguage

English

Publisher

iet

Conference_Titel

Controllers for Robotic Applications - Concepts and Implementations, IEE Colloquium on

Conference_Location

London

Type

conf

Filename

198942