VERSATILE ROBOT CONTROL SYSTEM

摘要

An impoved, versatile robot control system (10) comprises a general purpose computer (14) with a general purpose operating system in electronic communication with a real-time computer subsystem (16). The general purpose computer includes a program execution module (18) to selectively start and stop processing of a program of robot instructions (24) and to generate a plurality of robot move commands (26). The real-time computer subsystem (16) includes a move command data buffer (34) for storing the plurality of move commands (26) , a robot move module (32) linked to the data buffer (34) for sequentially processing the moves and calculating a required position for a robot mechanical joint. The real-time computer subsystem (16) also includes a dynamic control algorithm (38) in software communication with the move module (32) to repeatedly calculate a required actuator activation signal (50/52) from a robot joint position feedback signal (44/46).