서지주요정보
RCCL(robot control C library)를 이용한 범용제어기의 다중 로봇 제어 = Implementation of RCCL (robot control C library) on universal controller and controlling the multi-robot
서명 / 저자 RCCL(robot control C library)를 이용한 범용제어기의 다중 로봇 제어 = Implementation of RCCL (robot control C library) on universal controller and controlling the multi-robot / 이성욱.
저자명 이성욱 ; Lee, Sung-Uk
발행사항 [대전 : 한국과학기술원, 1995].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8005421

소장위치/청구기호

학술문화관(문화관) 보존서고

MPE 95022

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

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.

서지기타정보

서지기타정보
청구기호 {MPE 95022
형태사항 v, 51 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Sung-Uk Lee
지도교수의 한글표기 : 장평훈
지도교수의 영문표기 : Pyung-Hun Chang
학위논문 학위논문(석사) - 한국과학기술원 : 정밀공학과,
서지주기 참고문헌 : p. 49-51
주제 Robots --Motion.
Multitasking (Computer science)
C (Computer program language)
로봇. --과학기술응용시소러스
다중 처리 제어. --과학기술응용시소러스
범용성. --과학기술응용시소러스
C 언어. --과학기술응용시소러스
Robots --Control systems.
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