Robot Control System ARS/A for Research
Kosei Kitagaki* and Marasu Uchiyama**
*Electrotechnical Laboratory, 1-1-4 Umezono, Tsukuba, 305 Japan
**Tohoku University, Aoba, Aramaki, Aoba-ku Sendai, 980 Japan
Published:October 20, 1990
Keywords:Robot manipulator, Lower level control, Open architecture robot controller, Robot operating system, Robot language
This paper presents an open architecture robot control system for lower level manipulator control such as motion control or force control. Basically, the system consists of three elements: an industrial robot manipulator called A-HAND, a servo computer with the motor driver units, and a host computer. The system is called ARS/A (Aoba Robot System for A-HAND). The robot and the servo computer are regarded as an independent robotic module with a standard interface to the host computer, from which it accepts a set of real time commands to control the robot. Any computer having an interface may be connected to the robotic module as a host computer. To design the set of real time commands is a crucial issue because it determines the capability and flexibility of the robot system. This paper proposes a set of real time commands which are needed for lower level control experiments. The set was found through trials. A real time monitor called MOS/A (Motor Operating System for A-HAND) to process the commands to control the robot are implemented on the servo computer. The MOS commands are defined as functions of a C language on the host computer. The C language is called ARC/A (Aoba Robot C Language for A-HAND) to have other robot control utility functions such as graphic simulation functions as well as the MOS functions. Sample programs show that ARC/A is an efficient programming tool for lower level control.
Cite this article as:K. Kitagaki and M. Uchiyama, “Robot Control System ARS/A for Research,” J. Robot. Mechatron., Vol.2 No.5, pp. 404-410, 1990.Data files: