A universal robot control system (URCS) based on the TUNIS multiprocessor

Author

Sollbach, Edward M. ; Goldenberg, Andrew A. ; Laniado, Izhak

Author_Institution

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

Volume

39

Issue

3

fYear

1992

fDate

6/1/1992 12:00:00 AM

Firstpage

203

Lastpage

207

Abstract

The design and development of a universal robot control system (URCS) that would enable computation-intensive control algorithms to be implemented and modified is reported. This required shifting from hardware to software, using high-performance computing platforms. In general, multiprocessing has been found to be a cost-effective method for increasing performance, especially when the control algorithm can be composed into concurrent computational tasks. The URCS was developed using the University of Toronto Multiprocessor System (TUNIS) as the computing platform. One processor reads sensors, another calculates compensation signals and commands to the motors, a third is designated for operator requests, and the last is used for the operating system. An interface that allows the URCS to control the PUMA 560 robot was designed and built

Keywords

control systems; multiprocessing systems; robots; PUMA 560 robot; TUNIS multiprocessor; compensation signals; computation-intensive control algorithms; universal robot control system; Algorithm design and analysis; Concurrent computing; Control systems; Hardware; Multiprocessing systems; Operating systems; Robot control; Sensor systems; Signal design; Signal processing;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.141621

Filename

141621