Research on the open manipulator controller for assisting the elderly and the disabled

This paper describes an open robotic arm controller. Its hardware consists of an seven-DOF manipulator, motion controller card (PMAC2) and PC-104 (MOPSIcd6).The software platform includes operating system, development system, top control module, bottom control module, l position-servo module and communications module. This open, modularization controller is satisfied for the control demand of given manipulator. It can complete the defined task, and it also has well extended function. In addition, the bottom control software of this controller open to all the users, this has the realistic meaning on the research of manifold control methods of the manipulator.