GKD-1 RRC REAL-TIME ROBOT CONTROLLER AND ITS APPLICATION IN FORCE/POSITION HYTRID COMPLIANCE CONTROL
作者单位：Dept of Automatic ControlNational University of Defense Technology
会议名称：《计算机，通信，控制与电力工程国际会议》
主办单位：IEEE;BEIJING SECT;NO JIAOTONG UNIV
会议日期：1993年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：support of Chinese Government 863 Research Project
关 键 词：RRC GKD-1 RRC REAL-TIME ROBOT CONTROLLER AND ITS APPLICATION IN FORCE/POSITION HYTRID COMPLIANCE CONTROL
摘 要：A new type of real-time robot controller-GKD-1 RRC,designed for research about robot force / position hybrid control,is based on multi-level bus mode MIMD tightly-coupled multiprocessor structure,which can dynamicly distribute load to maintain dynamic load balance by the management of the kernel of multiprocessor concurrent operation system and can meet needs of task-based parallel *** paper firstly presents the hardware and software structure of the robot controller and its main ***,some typical experiments on force / position hybrid control and control schemes,experimental results are *** experimental results show that computer structure of GKD-1 RRC is efficient and applicable,with 4.88ms force / position hybrid control cycle and less than 100 gram average force control steady state error and position & repeating accuracy of position control less than original accuracy of the manipulator.