A robot control system based on a UNIX work-station

Author

Tomiyama, Ken ; Honda, Fumiaki ; Shinoda, Hidefumi ; Tanaka, Jun

Author_Institution

Dept. of Mech. Eng., Aoyama Gakuin Univ., Tokyo, Japan

fYear

1993

fDate

1-3 Aug. 1993

Firstpage

125

Lastpage

128

Abstract

An integrated testbed for the study of a smart robot control system based on a UNIX workstation is discussed. It has a VME-bus-based real-time controller which provides data acquisition capability to the system. The SCARA-type manipulator is powered by a set of pulse-controlled servo drivers. Image data are gathered and processed by the combination of image processing hardware and a CCD camera. A UNIX workstation is designated to provide intelligence to the system by understanding the environment of the robot through image data. It also provides online data analysis capability. The system was checked by an object following experiment where the robot chases a pair of alternatively lit LEDs. Data acquisition and analysis capability was built into the system. A mathematical model of the manipulator was obtained. The model was used in designing a digital compensator. The compensator was implemented in the form of a software servo and successfully suppressed oscillatory response of the manipulator.<>

Keywords

automatic testing; compensation; computer vision; computerised control; control systems; data acquisition; engineering workstations; real-time systems; robots; CCD camera; SCARA-type manipulator; UNIX workstation; VME-bus-based real-time controller; computer vision; data acquisition; digital compensator; image processing; integrated testbed; mathematical model; pulse-controlled servo drivers; robot control system; Automatic testing; Compensation; Control systems; Data acquisition; Digital control; Machine vision; Real time systems; Robots; Workstations;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems Engineering, 1991., IEEE International Conference on

Conference_Location

Dayton, OH, USA

Print_ISBN

0-7803-0173-0

Type

conf

DOI

10.1109/ICSYSE.1991.161095

Filename

161095