Transputer Software Tool for Robot Control Applications

Abstract

For the implementation of a primitive based robot control system a Software Tool has been developed which runs on a transputer network. The Transputer Software Tool provides the user with a standard I/O protocol and a Virtual Robot concept to connect different robots to the control system. On top of this I/O level standardized joint and cartesian controllers can be used to perform simple tasks. The open architecture of the Transputer Software Tool allows the user to add their own task specific primitives or to use other controllers than supplied. Using TCP/IP socket communication programs that execute on a different hardware platform can easily be connected to the transputer network creating a complex control architecture.