Experimental Multiprocessor Robot Controller
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.
KeywordsInverse Kinematic Trajectory Tracking Cartesian Space Task Space Robot Controller
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