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- W2188646967 abstract "� Abstract— High performance robot control systems are essential to control with fully deterministic and reliable processes. To provide such a versatile and high performance robot control platform, an embedded robot controller based on parallel or inter-processes computing concept will be proposed In this paper presents the development of real-time controllers for robot controllers which features high computational power. An inter-process programming concept with real-time operating system are show which it can perform successfully the advanced requirement such as a 6 DOF tele-robotic and gantry robotic system. I INTRODUCTION ue to the complexity of the six DOF tele-robotic system, programming with a single processor to sequentially control all the various peripherals devices and robot trajectory calculation would result in low bandwidth or high latency system. To address these issues a multi-tasking concept has been employed to deal with the system complexity, in which each process functions as a dedicated process. In test rig robot controller, the tele-robotic concept by using a PUMA 260 six DOF industrial robot as the master robot, controlling a PUMA 760 robot acting as the slave, was illustrated in figure 1. The PUMA Series 200 is the most compact model in the UNIMATE PUMA line of electrically driven robots. With a 406 mm reach, and a 1 kg payload capacity, the human operator can perform a movement dexterously. The force/torque reflection feature was adapted in the master and slave manipulator with the commercial six-axis force/torque transducer and controller, a control system integrating a PC microprocessor with transputer networks was previously developed that added complexity to the system. The complex architecture of the integrated transputer network has been replaced with high performance x86 processors and real-time operating system; however, the multi-tasking capability has been retained to satisfy the real-time control requirements of the system. This research adopts the QNX software environment that is a hard real-time operating system. It permits the implementation of multi-tasking to further develop the six DOF tele-robotic and" @default.
- W2188646967 created "2016-06-24" @default.
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- W2188646967 date "2008-01-01" @default.
- W2188646967 modified "2023-09-24" @default.
- W2188646967 title "Real-time Inter-processing for PC Based Robot Controllers in Tele-robotic and Gantry Robotic Controller System" @default.
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