Design of digital controller of six degree of freedom industrial robot using 16 bit CPU and modula-2 language

16 bit CPU와 Modula-2 언어를 사용한 6측 산업용 로보트의 디지탈 제어기 제작에 관한 연구

The main work of this paper are the manufacture of six degree of freedom industrial robot control hardware of 16 bit CPU and the development of five motion control software. The work would draw on KIT of Robotics Laboratory whose extensive experience in these areas; in particular the 68000 assembler and Modula-2 languages, and existing robot control systems. We found that this controller is good for the robot controller of PID types. But, for the use of self-tuning algorithms and real time calculations we need 32 bit CPU robot controller such as MC 68020 microprocessor.