An approach to real-time control of robots in task space. Application to control of PUMA 560 without VAL-II

Author

Goldenberg, Andrew A. ; Chan, Lawrence

Author_Institution

Dept. of Mech. Eng., Toronto Univ., Ont., Canada

Volume

35

Issue

2

fYear

1988

fDate

5/1/1988 12:00:00 AM

Firstpage

231

Lastpage

238

Abstract

An approach to real-time control is presented that involves the adaption of existing (commercial) hardware and the integration of new hardware and software, such that both feedback control and offline programming using either task or joint-space coordinates are possible. The approach is illustrated in detail through the implementation of a controller that replaces the conventional Victor´s assembly language (VAL) II-based controller with the PUMA 560 robot. The controller presents an improvement over the system under VAL in a number of ways, in addition to being able to use either task or joint-space information in the most general form. In particular, the hardware and software of the new controller can accommodate novel sensory systems, robot programming languages, and dynamic models for research and evaluation of advanced control methods

Keywords

computerised control; feedback; programmable controllers; real-time systems; robots; PUMA 560; controller; feedback control; joint-space coordinates; offline programming; real-time control; robots; sensory systems; task space; task-space coordinates; Control systems; Dynamic programming; Feedback control; Hardware; Orbital robotics; Robot control; Robot kinematics; Robot programming; Robot sensing systems; Robotic assembly;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.192654

Filename

192654