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Experimental multiprocessor robot controller
Terbuc, Martin ; Jezernik, Karel
Za pedagoško in raziskovalno delo je zelo pomembno, da je uporaba robotskih krmilnikov preprosta, modifikacija njegove programsk opreme pa enostavna. Naš eksperimentalni laboratorijski ...multiprocesorski robotski krmilnik je odprt system, v katerem so transputerji uporabljeni kot centralni procesorji, zato je njegova moč procesiranja velika, komunikacije pa zelo hitre. V Laboratriji za robotiko na Tehniški fakulteti Univerze v Mariboru smo razvili nov pristop vodenja, ki zagotavlja sledenje trajektorije in možnost vgraditve zunanjih senzorjev. Standardni regulatorji najprej računajo inverzno transformacijo in nato izvajajo vodenje v notranjih koordinatah za posamezno robotsko os. Uporabili smo moderno shemo vodenja v Kartezijevih koordinatah, ki vključuje kinematiko in dinamiko. Na ta način smo dosegli boljšo robustnost sledenja. Multiprocesorska zgradba omogoča računski čas 1 ms.
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