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Fara Robot에서의 RCCL(Robot Control C Library) 구현
선경일(K.I. Sun),김병국(B.K. Kim) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
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.