A Manipulator Controller (MC) is developed so as to control an Assembly Robot System having two arms.
The MC is built around two MC68000 16-bit micro-processor based single board computers, each of which drives one arm of the Assembly Robot System.
The MC communicates with the minicomputer PDP-11/34 as HOST and at the same time 8 Z-80 micro-processor based servo-controllers. The MC processes data from the HOST as well as the servo-controllers. In particular, parallel data communication is adopted for the purpose of high speed data communication.
The MC contains all the software for the motion control and communication and proper hardware for this purpose.
Based on this type of MC, various functions, which are MOVE to control position exactly, TEACH to teach the Robot of its configuration, FINE to move on the straight-line, OPEN to open the finger, GRASP to close the finger, etc., are investigated. Also associated problems are solved and suggested.
