This paper proposes a novel multitasking system structure for robot control with multisensors and large computation loads. The established system meets the requirements for future applications, such as flexibility, portability, expansibility, and user-friendliness. On the other hand, the system is inexpensive and easy to construct since it is a PC-based structure. The key feature of the system lies in the ingenious configuration of dual-port RAM, which simplifies the system while powerful features are still retained. In the software, we have customized the well-known hierarchical architecture and modular concept to meet the needs of robot control, which could be a road map for robot software development in the future. To verify and demonstrate all the functions of the complete system, a control example of the PUMA 560 arm equipped with the torque sensor and a vision system is implemented. Although this example may not be a very practical industrial application, it is nevertheless believed that this implementation example will enable the reader to understand the technique and apply it to practical applications.
|Number of pages||12|
|Journal||Journal of Control Systems and Technology|
|State||Published - 1 Jun 1997|