Microprocessor controls for limited-function robots

摘要

This paper describes a microprocessor controller for limited-function, special-purpose robots. Both hardware and software for the controller were developed in modular form so that appropriate modules can be selected to suit a particular robot configuration. Two levels of sequence programming, defining the task to be performed by a robot, can be utilized. Low-level sequence programming can be used by a trained operator but is time consuming and error prone. High-level sequence programming can be achieved using a software communications module which prompts the operator so that negligible training is required and sequences can be developed efficiently.