AN INTEGRATED TEST ENVIRONMENT

摘要

A general purpose PC-based, test system is developed which includes an audio/video interface and a robotic manipulator designed for this application. This system utilizes a Windows~(~R) interface for performing various tasks in a test environment. An embedded system controller, developed for the manipulator, interacts with the PC by exchanging command and status information, while asynchronously controlling the robot. The manipulator incorporates features which reduces control complexity, power consumption, and improves resonance, and torque performance. A scripting language is developed for saving, interpreting and sequencing of commands issued by the operator. The language is embedded in the system operation and the user does not have to perform any programming tasks. All training of the system is performed interactively through a Windows~(~R) interface.