Within the scope of this project, an open control architecture for a PUMA 560 is being developed. The current status of the project allows distributed control of the arm, based on a local Ethernet PC network. A central node runs, under Windows 98, a Petri net executor that supervises task execution. Other nodes are now ready to run primitive task servers under Linux. Communication is supported on the TCP/IP protocol.
Intelligent Robots and Systems Group (IRSg)
Open Distributed Control Architecture for a PUMA 560 Manipulator