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Programska implementacija modula za obradu ulazno/izlaznih signala kod robotskog kontrolera opšte namene

Software implementation of input/output signal processing module in a general purpose robot controller

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1987
1785.pdf (881.7Kb)
Authors
Devedžić, Vladan
Karan, Branko
Timotijević, Milija
Article (Published version)
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Abstract
U radu je opisan programski modul za obradu ulazno/izlaznih signala kod industrijskog robotskog kontrolera opšte namene. Koncept asinhronog praćenja promenljivih spoljnih signala i uslova uz istovremeno izvršavanje robotskog programa je iskorišćen kao metod komunikacije robotskog sistema s okolinom. Razmotrene su različite mogućnosti pristupa ulazno/izlaznim signalima iz korisničkih programa napisanih na robotskom programskom jeziku RL, koji je ugradjen u kontroler. Opisane su mogućnosti rekonfiguracije ulazno/izlaznog modula sistema u slučaju promene radnog okruženja ili vrste aplikacije. U diskusiji o trenutnim performansama realizovanog sistema sa stanovišta obrade ulazno/izlaznih signala, ukazano je na mogućnosti nadgradnje i proširenja sistema.
The program module for input/output (I/O) signal processing in a general purpose industrial robot controller is described. The concept of asynchronous scanning of external signals and conditions simultaneously with the robot program execution is used as a method of robot system communication with the environment. Various alternatives of accessing I/O signals from user programs, written in the controller's built-in robot programming language are considered. The I/O module reconfiguration capabilities are described for the case of various application and/or environment changes. The system extension possibilities are discussed from the I/O signal processing viewpoint.
Keywords:
input-output signal processing / robot controllers / general-purpose robots
Source:
Informatika, 1987, 21, 4, 213-220

ISSN: 0019-9923

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URI
http://dais.sanu.ac.rs/123456789/15437
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  • Radovi istraživača pre dolaska u ITN SANU
Institution
Институт техничких наука САНУ / Institute of Technical Sciences SASA

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