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
