The multi-tasking robot control through open architecture systems

摘要

This paper shows a new technical solution called OPEN ARCHITECTURE for the contour path robot control on six axis of freedom degrees in system multi-microprocessor with PLC interfaced with PC in order to obtain to obtain high performances. Through the development to of this method the system becomes open to new control functions: compliance and comprehensive actions. The method of computation in real time of the inverse Jacobian matrix, topology of transputers networks and the data flux corresponding to implementation of the multi-microprocessor system for path control of industrial robots is presented. Based on decentralized and distributed structures of programmable automates will result technical methods and solutions of real time control, on six freedom degrees, of industrial robots with high precision, execution speed, flexibility, repeatability, reliability and redundancy.