灵巧手机器人的智能控制系统

Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI:10.1109/INES.1997.632405

B. Lantos, P. Klatsmányi, L. Ludvig, F. Tél

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引用次数: 5

摘要

研究了由Puma 560机器人和三指(9自由度)机械手组成的系统的控制体系结构和算法。整个控制系统分为三个子系统。第一个子系统是机器人控制系统，由一台带有电力电子设备的主机PC和三块包含dsp的专用板组成。ARPS机器人编程语言在主机PC上运行。第二个子系统是基于专用模拟卡的PC机的肌腱驱动灵巧手控制系统。控制程序在QNX实时操作系统下运行。第三个子系统是一个低成本的立体视觉系统，由一台装有Windows NT的PC机、一个视频爆破卡和三个CCD矩阵摄像机组成。不同类型的智能(专家知识、图形仿真、立体图像处理、先进的控制算法)分布在整个控制系统的组成部分中。

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Intelligent control system of a robot with dextrous hand

The paper deals with the control architecture and algorithms of a system consisting of a Puma 560 robot and a three-fingered (9 degree-of-freedom) robot hand. The whole control system is divided into three subsystems. The first subsystem is the robot control system consisting of a host PC with power electronics and three special boards containing DSPs. The ARPS robot programming language runs on the host PC. The second subsystem is the control system of the tendon-driven TUB dextrous hand based on a PC with special analog cards. The control programs are running under QNX real-time operation system. The third subsystem is a low-cost stereo vision system consisting of a PC with Windows NT, a video blaster card and three CCD matrix cameras. Different types of intelligence (expert knowledge, graphic simulation, stereo image processing, advanced control algorithms) are distributed in the components of the whole control system.

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Proceedings of IEEE International Conference on Intelligent Engineering Systems

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