Hostname: page-component-76fb5796d-skm99 Total loading time: 0 Render date: 2024-04-25T07:05:23.168Z Has data issue: false hasContentIssue false
  • English
  • Français

A Distributed PC-Based Control System for Education in Robotics

Published online by Cambridge University Press:  09 March 2009

N. Kirćanski ,
Dj. Leković ,
M. Borić ,
M. Vukobratović ,
M. Djurović ,
N. Djurović ,
T. Petrović ,
B. Karan  and
D. Urosević
N. Kirćanski
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, 11000 Belgrade (Yugoslavia)
Dj. Leković
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, 11000 Belgrade (Yugoslavia)
M. Borić
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, 11000 Belgrade (Yugoslavia)
M. Vukobratović
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, 11000 Belgrade (Yugoslavia)
M. Djurović
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, 11000 Belgrade (Yugoslavia)
N. Djurović
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, 11000 Belgrade (Yugoslavia)
T. Petrović
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, 11000 Belgrade (Yugoslavia)
B. Karan
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, 11000 Belgrade (Yugoslavia)
D. Urosević
Affiliation:
Mihailo Pupin Institute, P.O. Box 15, Volgina 15, 11000 Belgrade (Yugoslavia)
Get access Rights & Permissions [Opens in a new window]

Summary

The paper presents an educational system for teaching and research in robotics which consists of a manipulator, controller and a PC compatible host computer. The advanced design of host-computer user-interface software makes the system very suitable for teaching. It allows the user not only to follow the system states but also to change the control structure on-line. In the first part of this paper the architecture of the system, window-oriented user interface, specially designed robot language and several build-in students lessons will be described as well as the data acquisition system and advanced graphical capabilities.

In the second part of this paper the executive controller architecture is described. Besides the manipulator control function and IO operations, the controller supports communication with the host-computer. The controller is programmable, i.e. it executes various tasks within user-defined and build-in students lessons. By the use of simple host-computer commands the controller can execute various algorithms both for trajectory generation and dynamically compensated digital servo control. The dynamic model components in the feed-forward and feed-back control loop can be selectively included and changed during the manipulator's motion. Experimental results with a 4-link educational robot are presented.

Keywords

EducationRoboticsControlPC-based
Type
Article
Information
Robotica , Volume 9 , Issue 2 , April 1991 , pp. 235 - 245
Copyright
Copyright © Cambridge University Press 1991

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Literature

1.Kriegman, D., Siegel, D., Narasimhan, S., Hollerbach, J. and Gerpheide, G., “Computational Architecture for the Utah/MIT Hand” IEEE Int. Conf. Robotics and Automation 918–924 (1985).Google Scholar
2.Bejczy, A., Szakaly, Z., “Universal Computer Control System (UCCS) for Space Telerobots” Proc. IEEE Int. Conf. Robotics and Automation, Raleigh, USA 318–325 (1987).Google Scholar
3.Paul, R. and Zhang, H., “Design of a Robot Force/Motion Server” Proc. IEEE Int. Conf. Robotics and Automation 318–325 (1986).Google Scholar
4.Bihn, G.D. and Hsia, S.T.C., “Universal Six-Joint Robot Controller” IEEE Control Systems Magazine 8, No. 1, 31–36 (02, 1988).CrossRefGoogle Scholar
5.Ling, Y.L.C., Sadayappan, P., Olson, K.W. and Orin, D.E., “A VLSI Robotics Vector Processor for Real-Time Control” Proc. IEEE Int. Conf. Robotics Automation Philadelphia 303–308 (1988).Google Scholar
6.Zheng, F.Y., Luh, J.Y.S. and Jia, P.F., “A real-time distributed computer system for coordinated-motion control of two industrial robots” Proc. IEEE Int. Conf. Robotics Automation, Raleigh 1236–1243 (1987).Google Scholar
7.Schmitz, D., Khosla, P., Hoffman, R. and Kanade, T., “CHIMERA: A Real-time Programming Environment for Manipulator Control” Proc. IEEE Int. Conf. Robotics and Automation, Scottsdale 846–852 (1989).Google Scholar
8.Salkind, L., “The SAGE Operating System” Proc. IEEE Int. Conf. Robotics and Automation, Scottsdale 860–865 (1989).Google Scholar
9.Iwata, H., Marukawa, K. and Matsushima, K., “Development of an instruction system for robotics and manipulator – tutorial program for student' labo” Seventh CISM – IFToMM Symposium on Theory and Practice of Robots and Manipulators, Ro Man Sy '88 Udine 518–530 (1988).Google Scholar
10.Vukobratovi, M.ć and Kirćanski, N., Real – Time Dynamics of Manipulation Robots Series: Scientific Foundations of Robotics (Springer Verlag, Berlin, 1984).Google Scholar
11.Kirćanski, M., Vukobratović, M., Kirćanski, N. and Timčenko, A., “A New Program Package for the Generation of Efficient Manipulator Kinematic and Dynamic Equations in Symbolic Form” Robotica 6, Part 4, 311–318 (1988).CrossRefGoogle Scholar
12.Kirćanski, N., Timčenko, A., Jovanović, Z., Kirćanski, M., Vukobratović, M. and Milunov, R., “Computation of customized symbolic robot models on peripheral array processors” Proc. IEEE Int. Conf. Robotics and Automation Scottsdale 1180–1187 (1989).Google Scholar
13.Astrom, K. and Wittenmark, B., Computer Controlled Systems – Theory and Design, Information and System Sciences Series (Prentice-Hall, Englewood Cliffs, N.J. 1984).Google Scholar