ARCHITECTURAL PROBLEMS OF THE HYBRID POSITION AND FORCE CONTROL SYSTEM OF ROBOTS

Abstract

An experimental robot control system has been developed at the Budapest Technical University, providing access for research and development in terms of modern robot control algorithms. The multiprocessor robot control system is connected to a NOKIA-PUMA 560 humanoid robot arm. The purpose of this study is to discuss the architectural problems of the mentioned multiprocessor control system. The guiding principles of the modern hybrid position-force control are explained and the structure of the multiprocessor control system is presented. The tasks of the components and the features of the communication channels are also discussed. Finally, the study gives the summary of the architectural and communication requirements of a hybrid position and force control system in the above environment.