GKD-1 MULTI-MICROPROCESSOR ROBOT CONTROL SYSTEM

This paper gives an introduction to the GKD-1 multimicroprocessor robot control system.In hardware,thesystem has module structure so that is easy to be extended;In software,it supports distributed programingenvironment by making use of dynamic task scheduling so that is accessible to be generalized.Currently,wehave successfully fulfilled the force feedback compliance control experiment on a PUMA 562 robot with thissystem and the sampling period is decreased to 4.883ms.