The ral hierarchical control system

Abstract

A Hierarchical Control System with organizer, coordinator and hardware levels has been developed. A VAX-11/750 serves as the organizer. An LSI-11/23 equipped with FPF11 floating point processor is the basis of the coordinator. The original controller for a PUMA-600 robotic manipulator has been modified to serve as the hardware level. Organizer level software has been created for communication and control of the coordinator. Coordinator command and control software development has duplicated and expanded upon the functions of VAL. Real-time evaluation of modern robotic manipulator control methods on a PUMA-6O0 is now possible.