HighRobot: a high-performance universal robot control on parallel workstations

Author

Küchlin, W. ; Gruhler, G. ; Lumpp, Th. ; Speck, A.

Author_Institution

Wilhelm-Schickard-Inst. fur Inf., Tubingen Univ., Germany

fYear

1997

fDate

24-28 Mar 1997

Firstpage

444

Lastpage

451

Abstract

This paper introduces a new type of parallel robot control based on standard hardware and software. HighRobot is a universal control for robot arms as well as peripheral devices. The control hardware is a multiprocessor SPARCstation running Solaris 2.x with soft real-time features compliant to POSIX.4. The software of the HighRobot control has an object-oriented design. Both hardware and software are structured in layers. The device control tasks are running in parallel on the workstation. The robot drives and peripheral devices are connected to HighRobot by the field-bus CAN

Keywords

computerised control; object-oriented programming; robots; HighRobot; POSIX.4; Solaris 2.x; control hardware; field-bus CAN; high-performance universal robot control; multiprocessor SPARCstation; object-oriented design; parallel robot control; parallel workstations; peripheral devices; soft real-time features; Automatic control; Control systems; Hardware; Operating systems; Parallel robots; Production; Robot control; Service robots; Software standards; Workstations;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering of Computer-Based Systems, 1997. Proceedings., International Conference and Workshop on

Conference_Location

Monterey, CA

Print_ISBN

0-8186-7889-5

Type

conf

DOI

10.1109/ECBS.1997.581927

Filename

581927