Title :
A fast reconfiguring robot controller
Author :
Dalay, B. ; Webb, P.
Author_Institution :
Dept. of Mech. & Manuf. Eng., De Montfort Univ., Leicester, UK
Abstract :
The objective of this work was the development of a replacement control system for a SCARA robot. The key features explored were derived from the scalable distributed architecture in which each joint was served by its own dedicated microcontroller. The software system exploited this with a novel resident kernel enabling dynamic reconfiguration through run time changes to executable code
Keywords :
control systems; controllers; microcontrollers; robots; SCARA robot; dedicated microcontroller; dynamic reconfiguration; executable code changes; fast reconfiguring robot controller; replacement control system development; resident kernel; run-time changes; scalable distributed architecture;
Conference_Titel :
Fast Reconfiguration of Robotic and Automation Resources, IEE Colloquium on
Conference_Location :
London
DOI :
10.1049/ic:19951078
