A universal robot control system (URCS) based on the TUNIS multiprocessor

The design and development of a universal robot control system (URCS) that would enable computation-intensive control algorithms to be implemented and modified is reported. This required shifting from hardware to software, using high-performance computing platforms. In general, multiprocessing has been found to be a cost-effective method for increasing performance, especially when the control algorithm can be composed into concurrent computational tasks. The URCS was developed using the University of Toronto Multiprocessor System (TUNIS) as the computing platform. One processor reads sensors, another calculates compensation signals and commands to the motors, a third is designated for operator requests, and the last is used for the operating system. An interface that allows the URCS to control the PUMA 560 robot was designed and built