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We are working on new control concepts which assure trajectory tracking and
the incorporation of external sensors. Our open robot controller is
transputer based. Its kernel is a card with four transputers T805, one
PowerPC 601 TRAM modul and tree
IR-T8 cards
. The controller is connected to a laboratory 3 DOF
DD Robot. The
distribution of processes among transputers and the parallelization of
process executions were used. In this way executions time of 1 ms were
reached, which is several classes better than the controllers available on
the market.
An advanced path planning algorithm in task space for lines and circles with sin acceleration profile is used. Different advanced controller types in task space, such as: acceleration control approach or back-propagation neural networks are implemented. |
