다중처리기를 갖는 고성능 범용제어기의 개발과 여유자유도 로봇 제어에의 응용

Abstract

In this paper, the development of a high performance flexible controller is described. The hardware of the controller, based on VME-bus, consists of four M68020 single-board computers(32-bit) with

M68881 numerical coprocessors, two M68040 single board computers. I/O devices(such as A/D and D/A converters, parallel I/O, encoder counters), and bus-to-bus adaptor. This software, written in C and based on X-window environment with Unix operation system, includes : text editor , compiler, downloader, and plotter running in a host computer for developing control program; device drivers, scheduler, and

mathematical routines for the real time control purpose; message passing, filer server, source level debugger virtual terminal etc. The hardware and software are structured so that the controller might

have both flexibility and externsibility. In parallel to the controller, a three degrees of freedom kinematically redundant robot has been developed at the same time. The development of the robot was undertaken in order to provide, on the one hand, a computationally intensive plant to which to apply the controller, which is as such, an importants are. By using the controller, dynamic control of the redundant manipulator was successfully experimented, showing the effectiveness and flexibility of the

controller.