An intelligent robot control system is developed that is based on an extensible hardware and software, which is versatile and flexible. In according to the hardware growth, the environment could be built that executes the advanced and complex real time application programs. And the real time software tools were published to support the high speed processing. Hence, it avoids the present robot environment having many problems in executing a complex or precise algorithms due to the limitation of hardware and software. In this paper we used th RCCL on SUN4 as a supervisory system that plays the path planning and man-machine interface. And we used Vx Works as a real time OS on the VME rack equipped with CPU and servo interface boards. These two systems are connected through the ethernet network. We used the 4 axis manipulator, FARA, developed in SAMSUNG, and integrated the overall system. Control performances is shown with simulation and real time experiments.
