PC as a Controller for Educational Robot ROBED

Abstract

PC based robot controller was designed and built to serve as a research tool for investigation of practical and theoretical aspects of various control strategies in robotics and for industrial application. Pentium II based system was used for running AMX operation servo software. Special ISA-to-PC104 interface board was designed to handle input/output signals from the joint axes of the robot manipulator. This general-purpose controller is capable of driving robot manipulators equipped with any type of servomotors, position optical encoders and joint limit sensors (optical or mechanical). All software is written in C and assembler.