제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implemention of RCCL on PUMA

PUMA robot에서의 RCCL(robot control C library)의 구현

  • 배본호 (포항공과대학 전자전기 공학과) ;
  • 이진수 (포항공과대학 전자전기 공학과)
  • Published : 1991.10.01
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Abstract

RCCL(Robot Control C Library) is general purpose robot control language. It is programmed with C language and composed of C library. So it is well portable and supports sensor integration control and high level force control algorithms. We implemented RCCL on PUMA. We developed servo controller of DDC(Direct Digital Control). We used intel 8097BH one chip micro controller as CPU. One digital servo board controls three motors. Host computer is IBM PC 386DX-33 with RCCL.

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