The robot hybrid position and force control in multi-microprocessor systems

摘要

This paper shows a new robot hybrid position and force control of walking robots in multimicroprocessor system in order to obtain high performances. For this purpose kinematics and kinetostatics analysis are performed, and the mathematic model of the inverted kinematics is determined for controlling the main trajectory of the robot. The method of computation in real time of the inverse Jacobean matrix, topology of transducers networks and the data flux corresponding to implementation of the multi-microprocessor system for path control of industrial robots is presented. Related to this there is presented an Open Architecture system for the robot position control in Cartesian coordinates through real time processing of the Jacobean matrix obtained out of the forward kinematics using the Denevit-Hartenberg method and calculating the Jacobean inverted matrix for feedback. The obtained results prove a significant reduction of the execution time for the real time control of robot's position in Cartesian coordinates and increased flexibility.