Open structure multiprocessor robot controller

Abstract

This paper present an approach for building a multiprocessor robot controller. It is well known that new concepts of automatic control have to be tested not only with the use of simulation techniques, but also with experiments on real mechanisms. Transfer from simulations to experiments is enabled by the use of the open structure of a robot controller. For the user, it is also possible to include an algorithm in the existing structure, like the assembling of blocks in the simulation programs. Results can be followed by the real-time display of the desired system variables, which can also be saved for later processing. Since real-time operation is required, local decisions about the packet contents have to be made. Also communication connections-paths are destined in such a manner that the fastest possible transfer is enabled. Because of the complexity of the tasks, a multiprocessor control system with the optimal distribution of tasks is used. In recent years, the number of applications using a laser beam for cutting various materials, such as metals (in most cases iron), fabric and paper, is increasing. In the authors' Institute, a belt driven machine of this kind was built. PC and transputer based controller width open hardware and software architecture was implemented. A complete laser cutting system represents the successful industrial application of emerging technologies.