Robot programming system for research purposes

摘要

The hardware and software structure of the ASEA IRp-6 robot control system is presented. It has been developed to make both the hardware and software architecture open for research and teaching purposes. The user can communicate with the robot controller through a direct access interface between the host computer and the controller itself. The main part of the software is a library of subroutines of a modular and open architecture. Several experiments are carried out on the system and show that it can be programmed in a flexible way.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>