Integration of a plug-and-play desktop robotic system

This paper describes the development of a desktop robotic system that enables the plug-and-play function through the USB (universal serial bus) port of a personal computer (PC). Thus a new kind of desktop PC peripheral is invented that has programmable manipulability. The robotic system is realized on an internally distributed control structure that facilitates higher system reliability. A PID control algorithm is implemented on a prototype of the proposed system, to demonstrate the systemʹs ability to implement feedback control. Experimental results show the performance and properties of the proposed system.