The general-purpose controller for industrial robots of arbitrary type is described. It enables control of robots powered by DC electromotors or hydraulic actuators. The controller includes programs for communication with operators, robot program language, program for on-line robot kinematics, and program for direct digital servosystems for tracking trajectories including on-line dynamics of the robot. The controller is implemented on two microcomputers based on INTEL 8086 microprocessors. All parts of the controller hardware and software are briefly described. Implementation of on-line kinematics and on-line dynamics and the choice of the control law are considered in more details.
Keywords:
INTEL 8086 microprocessor / robot programming / control of robots / industrial robots
Source:
Proceedings of the 2nd Yugoslav-Soviet Symposium on Applied Robotics, Aranđelovac, Yugoslavia, 1984, 1984, 1-15
TY - CONF
AU - Vukobratović, Miomir
AU - Kirćanski, Nenad
AU - Stokić, Dragan
AU - Kirćanski, Manja
AU - Karan, Branko
PY - 1984
UR - https://dais.sanu.ac.rs/123456789/850
AB - The general-purpose controller for industrial robots of arbitrary type is described. It enables control of robots powered by DC electromotors or hydraulic actuators. The controller includes programs for communication with operators, robot program language, program for on-line robot kinematics, and program for direct digital servosystems for tracking trajectories including on-line dynamics of the robot. The controller is implemented on two microcomputers based on INTEL 8086 microprocessors. All parts of the controller hardware and software are briefly described. Implementation of on-line kinematics and on-line dynamics and the choice of the control law are considered in more details.
PB - Belgrade : Mihajlo Pupin Institute
C3 - Proceedings of the 2nd Yugoslav-Soviet Symposium on Applied Robotics, Aranđelovac, Yugoslavia, 1984
T1 - General-purpose controller for industrial manipulators
SP - 1
EP - 15
UR - https://hdl.handle.net/21.15107/rcub_dais_850
ER -
@conference{
author = "Vukobratović, Miomir and Kirćanski, Nenad and Stokić, Dragan and Kirćanski, Manja and Karan, Branko",
year = "1984",
abstract = "The general-purpose controller for industrial robots of arbitrary type is described. It enables control of robots powered by DC electromotors or hydraulic actuators. The controller includes programs for communication with operators, robot program language, program for on-line robot kinematics, and program for direct digital servosystems for tracking trajectories including on-line dynamics of the robot. The controller is implemented on two microcomputers based on INTEL 8086 microprocessors. All parts of the controller hardware and software are briefly described. Implementation of on-line kinematics and on-line dynamics and the choice of the control law are considered in more details.",
publisher = "Belgrade : Mihajlo Pupin Institute",
journal = "Proceedings of the 2nd Yugoslav-Soviet Symposium on Applied Robotics, Aranđelovac, Yugoslavia, 1984",
title = "General-purpose controller for industrial manipulators",
pages = "1-15",
url = "https://hdl.handle.net/21.15107/rcub_dais_850"
}
Vukobratović, M., Kirćanski, N., Stokić, D., Kirćanski, M.,& Karan, B.. (1984). General-purpose controller for industrial manipulators. in Proceedings of the 2nd Yugoslav-Soviet Symposium on Applied Robotics, Aranđelovac, Yugoslavia, 1984
Belgrade : Mihajlo Pupin Institute., 1-15.
https://hdl.handle.net/21.15107/rcub_dais_850
Vukobratović M, Kirćanski N, Stokić D, Kirćanski M, Karan B. General-purpose controller for industrial manipulators. in Proceedings of the 2nd Yugoslav-Soviet Symposium on Applied Robotics, Aranđelovac, Yugoslavia, 1984. 1984;:1-15.
https://hdl.handle.net/21.15107/rcub_dais_850 .
Vukobratović, Miomir, Kirćanski, Nenad, Stokić, Dragan, Kirćanski, Manja, Karan, Branko, "General-purpose controller for industrial manipulators" in Proceedings of the 2nd Yugoslav-Soviet Symposium on Applied Robotics, Aranđelovac, Yugoslavia, 1984 (1984):1-15,
https://hdl.handle.net/21.15107/rcub_dais_850 .
