A universal robot controller is implemented in this thesis. This controller has some features. It is universal because it is applicable to various robot system. It is extensible so that who wants better performance can upgrade this controller. And since it is multi-processing system it is usable many parallel processing.
The hardware is composed of off-the-self boards on VME bus which is industrial standard bus. And SUN-3/470 workstation is used as development host. The softwares run Unix and X-window environment on SUN. Downloder, message passing, virtual terminal and plotting tool are the softwares of this controller.
Another focus of this thesis is a redundant robot system. The robot have 3 arms which move on 2-D plane. When the end point of this robot is required to locate a certain point, we can say the robot has kinematical redundancy.
With this controller and this kinematical redundant robot, an experiment is done. By this, the reader can see an example of the usage and the performance of this universal controller.
