Modular robots-graphical interactive programming

The ACRO project, a study of modular low-price precision robots, is presented. Every manipulator is constructed on demand from a group of standardized modules. Axis modules are actuated by stepping motors, allowing high precision and avoiding of expensive position encoders. An economical computer-based system robot controller with open multiprocessor structure is also described. The user interface, ROPSE, is an assistance module for both offline robot programming and robot guidance, using interactive graphics. Debugging tools include a teaching-by-showing module that provides an unconventional solution to driving stepping motors using digital open-loop control. Two different robots have been built from the standardized modules. Results demonstrate highly accurate positioning and low cost offered by this flexible control system