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Experimental Multiprocessor Robot Controller

  • M. Terbuc
  • K. Jezernik
Conference paper
Part of the Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich book series (AKADNIEDERÖSTER)

Abstract

It is very important, for pedagogic and research purposes, that a robot controller is easy to use and its software is simple to modify. Our experimental multiprocessor laboratory robot controller is an open system, and with the transputers used as central processors a great processing power and a very fast communication were achieved. In the Robotics Laboratory at the Faculty of Technical Sciences in Maribor we developed new control concepts which assure trajectory tracking and the incorporation of the external sensors. Standard controllers compute inverse transformation first and then execute the control in joint coordinates for a single robot axis. We used an advanced control scheme in Cartesian space with included kinematics and dynamics. In this way we obtained a better tracking robustness. The multiprocessor structure allows computing time of 1ms.

Keywords

Inverse Kinematic Trajectory Tracking Cartesian Space Task Space Robot Controller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. K. Jezernik, B. Curk, J. Harnik, A. Sabanovic, (1992). VSS Control of Robotic Manipulators by Joint Acceleration Controllers, IMACS/SICE 92, Kobe, JapanGoogle Scholar
  2. S. Komada, K. Ohnishi, (1989). Control of robotic manipulators by joint acceleration controller, Proceedings of the IECON’89, Philadelphia, Pennsylvania, pp. 623–628Google Scholar
  3. J.D.M. McKeever, (1992). Using Transputer in a robot programming and control system, Microprocessing and Microprogramming 34, North-Holland, pp. 117–120Google Scholar
  4. G. Pritschow, H. Klingel, M. Bauder, A. Horn, (1992). Erhoehung der Bahngenauigkeit von Industrieroboter, Robotersysteme 8, pp. 162–170, Springer-VerlagGoogle Scholar
  5. D. Q. Zhang, C. Cecati, E. Chiricozzi, (1992). Some Practical Issues Of The Transputer Based Real-Time systems, IEEE 0-7803-0582-5/92, pp. 1403–1407Google Scholar

Copyright information

© Springer-Verlag/Wien 1994

Authors and Affiliations

  • M. Terbuc
    • 1
  • K. Jezernik
    • 1
  1. 1.Laboratory of Industrial Robotics, Faculty of Technical Sciences - ERIUniversity of MariborSlovenia

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