We need the robot control environment. So, robot control environments require the following things that 1) the development tools for robot programming and user interface tools at workstation or PC, 2) high performance flexible controller, and 3) library for robot control that is independent of robot. In this paper, as the hardware for robot control, we use the Universal Controller that consists of four M68020 signle-board computers with M68881 numerical coprocessors, two M68040 single-board computes, I/O devices, and bus-to-bus adaptor. This software, written in C and based on X-window environment with Unix O/S, includes 1) text editor, compiler, downloader, and plotter running in a host computer for developing control purpose, 2) device drivers, scheduler, and mathematical routines for the real-time control purpose, and 3) message passing, file server, source level debugger, virtual terminal, etc.
And, we use RCCL(Robot Control C Library) as the software for robot programming. RCCL is a library of routines for describing and controlling robot positions and actions, combined with a trajectory generator for realizing these actions.
Using this robot control environment, we control two degree FARA robot and six degree Hyundai 7601 robot separately and FARA robot and Hyundai 7601 robot at once.
