HIGHROBOT: a high-performance universal robot control on parallel workstations

Authors:
W. Küchlin;G. Gruhler;Th. Lumpp;A. Speck
Affiliations:
Wilhelm-Schickard-Institut für Informatik, Universität Tübingen, Tübingen, Germany;Institut für angewandte Forschung in der Automatisierung, Fachhochschule für Technik und Wirtschaft, Reutlingen, Germany;Wilhelm-Schickard-Institut für Informatik, Universität Tübingen, Tübingen, Germany and Institut für angewandte Forschung in der Automatisierung, Fachhochschule für Te ...;Wilhelm-Schickard-Institut für Informatik, Universität Tübingen, Tübingen, Germany and Institut für angewandte Forschung in der Automatisierung, Fachhochschule für Te ...
Venue:
ECBS'97 Proceedings of the 1997 international conference on Engineering of computer-based systems
Year:
1997

Citing 6
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Abstract

This paper introduces a new type of parallel robot control based on standard hardware and software. HIGHROBOT is a universal control for robot arms as well as peripheral devices. The control hardware is a multiprocessor SPARCstation running Solaris 2.x with soft real-time features compliant to POSIX.4. The software of the HIGHROBOT control has an object-oriented design. Both hardware and software are structured in layers. The device control tasks are running in parallel on the workstation. The robot drives and peripheral devices are connected to HIGHROBOT by the field-bus CAN.