A robot control system based on a UNIX work-station

Abstract

An integrated testbed for the study of a smart robot control system based on a UNIX workstation is discussed. It has a VME-bus-based real-time controller which provides data acquisition capability to the system. The SCARA-type manipulator is powered by a set of pulse-controlled servo drivers. Image data are gathered and processed by the combination of image processing hardware and a CCD camera. A UNIX workstation is designated to provide intelligence to the system by understanding the environment of the robot through image data. It also provides online data analysis capability. The system was checked by an object following experiment where the robot chases a pair of alternatively lit LEDs. Data acquisition and analysis capability was built into the system. A mathematical model of the manipulator was obtained. The model was used in designing a digital compensator. The compensator was implemented in the form of a software servo and successfully suppressed oscillatory response of the manipulator.<>