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

A software system for teaching and commanding the industrial robots

Design features of a software system for programming industrial robots with dynamic control are described. The software is intended for implementation an a microprocessor-based system and should enable the user to control a robot via specialized programming language RL. The paper contains description of the RL language and description of the system structure. Main characteristics and advantages of the system as well as questions concerning its realization on existing microprocessors are also discussed

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