This thesis deals with a μ-P based industrial ROBOT system, specially emphasizing on the interfacing and position calculation problems.
In particular, position control unit in the interfacing is almostly designed by hardware to process in the real time, and partially implemented by software program to give some flexibilities. Softwares are developed in Z-80 assembly language and control command and/or status are expressed in natural English-like language on the console for operator to easily understand its current situation.
With a camera attached to ROBOT system, we obtain a mathematical description of the objects in the scene expressing their locations and orientation by homogeneous transformation, and their useful separate joint data, and control position, velocity loop by issuing this command.