General-purpose controller for industrial manipulators

The general-purpose controller for industrial robots of arbitrary type is described. It enables control of robots powered by DC electromotors or hydraulic actuators. The controller includes programs for communication with operators, robot program language, program for on-line robot kinematics, and program for direct digital servosystems for tracking trajectories including on-line dynamics of the robot. The controller is implemented on two microcomputers based on INTEL 8086 microprocessors. All parts of the controller hardware and software are briefly described. Implementation of on-line kinematics and on-line dynamics and the choice of the control law are considered in more details

Concept of multiprocessor robot control system

U radu je prikazan koncept novog upravljačkog sistema razvijenog u Institutu "Mihailo Pupin", namenjenog za upravljanje manipulacionim robotima opšte namene. Upravljački sistem sastoji se iz 3 procesora u paralelnom radu. Prvi procesor namenjen je za komunikaciju sa korisnikom i sinhronizaciju rada sistema sa okolinom (komunikacioni procesor), drugi (kinematički procesor) prevodi spoljašnje koordinate u unutrašnje, a treći (dinamički procesor) obezbeđuje praćenje zadatih trajektorija. Procesorske ploče su realizovane na bazi mikroprocesora Intel 8086 i koprocesora 8087 sa taktom od 8 MHz.This paper presents a concept of a new robot controller developed in "Mihailo Pupin" Institute. The controller consists of 3 parallel processor units. The first unit is intended for comunication with a user and synchronization of the system operation with its environment (communication processor). The second unit (kinematic processor) transforms world coordinates into joint angles, and the third (dynamic processor) enables quality tracking of imposed trajectories. The processor boards are based on Intel 8086 microprocessors and 8087 coprocessors running at 8 MHz clock

Kinematics and trajectory synthesis of manipulation robots

A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con­ trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha­ nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono­ graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro­ bots, respectively. They form the first part of the series which has a certain topic-related autonomy in the domain of the construction and application of the mathematical models of robotic mechanisms' dynamics