GKD-1 RRC real-time robot controller and its application in force/position hybrid compliance control

The new type of real-time robot controller, GKD-1 RRC, designed for robot force/position hybrid control is based on a multilevel bus mode MIMD tightly-coupled multiprocessor structure which can dynamically distribute load to maintain dynamic load balance by the management of the kernel of multiprocessor concurrent operation system and can meet the need of task-based parallel processing. The paper presents the hardware and software structure of the robot controller and its main features. Then some typical experiments on force/position hybrid control schemes and their results are explained. The experimental results show that computer structure of GKD-1 RRC is efficient and applicable, with 4.88 ms force/ position hybrid control cycle, less than 100 gram average force control steady state error, and the accuracy of the position control is same as the original accuracy of the manipulator.<>