Fara robot에서의 RCCL(Robot Control C Library) 구현

Implementation of RCCL on fara robot

An intelligent robot control system is developed, which is based on extensible hardwares and softwares. The system could be used to test advanced and complex real time application programs to avoid constraints on present robot control system in executing a complex or precise algorithms, due to the limitation of hardware and software. In this paper we used the RCCL(Robot Control C Library) on SUN4 as a supervisory system that plays the path planning and man-machine interface. And we used VxWORKS as a real time OS on a VME bus CPU equiped with some interface boards. Two systems were connected through the Ethernet network. We used the 4 axis manipulator, FARA, developed by Samsung Electronics Co.