A study on the implementation of new ROBOT CONTROLLER with MULTI-TASKING and MULTI-ROBOT functions

다중 processor를 이용한 multi-robot용 제어기의 구현에 대한 연구

The main subject of this paper is the development of new ROBOT CONTROLLER, which can support MULTI-TASKING and MULTI-ROBOT functions. The system consists of various kinds of CPU modules according to their independent jobs. Acceleration and Deceleration profile is given in order to achieve the smooth robot motion and high cycle time. Further the communication capacity should be upgraded to meet the various kinds of peripheral PA devices.