2013 Programming And Controlling Puma Arms
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The document provides an overview of programming and controlling Puma robot arms, detailing various controllers, programming languages, and the Robot Control 'C' Library (RCCL). It covers the hardware configurations, control mechanisms, and systems used for real-time operation, including notable systems such as VAL, KALI, and ALVIN. Additionally, it outlines the limitations of existing systems and discusses alternative setups for improved control and communication.
![PUMA MK III Controller Configuration
1. control card set
[1] LSI-11/73 CPU board
[2] 64 KW RAM board
[3] quad serial board
[4] parallel I/O board
[5] A interface card
[6] B interface card
[7] digital servo boards
[8] arm signal interface board
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![2. power card set
[1] C interface board
[2] high power function board
[3] power amplifier boards - PWM type
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![References
VME bus / VSB
Wayne Fischer, "IEEE P1014 - A Standard for the High-Performance VME Bus,"
IEEE Micro, Feb. 1985.
Paul L. Borrill, "MicroStandards Special Feature: A Comparison of 32-Bit Buses,"
IEEE Micro, Dec. 1985.
Walter S. Heath, "Software Design for Real-Time Multiprocessor VMEbus Systems,"
IEEE Micro, Dec. 1987.
Shlomo Pri-Tal, "MicroStandards - The VME subsystem bus (VSB),"
IEEE Micro, Apr. 1986.
Craig MacKenna and Rick Main, "Backup support gives VMEbus powerful multiprocessing
architecture," Electronics, Mar. 22, 1984.
VxWorks, VRTX
[vrtx 1] James F. Ready, "VRTX: A Real-Time Operating System for Embedded Microprocessor Applications,“
IEEE Micro, Aug. 1986.
[vrtx 2] J. Mattox, "A Multi-processor Approach to Using UNIX in a Real-Time Environment,“ WESCON '86
[vrtx 3] S. J. Doyle and P. Bunce, "Real-Time Multiprocessing Requirements,“ WESCON '86
[vxworks 1] Jerry Fiddler and Leslie Kirby, "How to use VMEbus and Ethernet to build real-time distributed systems,“
VMEbus Systems, Sep.-Oct. 1987.
[vxworks 2] Jerry Fiddler and David N. Wilner, "VxWorks/Unix Real-Time Network and Development System,“
Mini/MicroNortheast, 1986
[vxworks 3] Wind River Systems, VxWorks version 3.20, 1987.
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![PUMA/VAL
[puma 1] B. Fisher and V. Hayward, "Communication Routines Between the LSI 11-03 and the 6503's", Purdue University, (undated,
unpublished)
[puma 2] B. Fisher and V. Hayward, "Robot Controller,“ Purdue University, (undated, unpublished)
[puma 3] Unimation Inc., "Controlling the PUMA Series 500 Robot Arm Without using VAL",
(undated, unpublished, company confidential)
[puma 4] R. Vistnes, "Breaking Away From VAL, or How to use your PUMA without using VAL,“ Stanford University, (undated,
unpublished)
[puma 5] A. Melidy and A. A. Goldenberg, "Operation of PUMA 560 Without VAL,“ Robots 9, 1985
[puma 6] S.-Y. Lee, A Study on the Wrist Servo-Controller of PUMA-760 Robot, MS Thesis, Dept of ME, KAIST, Feb., 1986.
[puma 7] P. Nagy, "A New Approach to Operating a PUMA manipulator Without Using VAL,“ Robots 12 and Vision '88, 1988
[puma 8] P. Nagy, "The Puma 560 Industrial Robot: Inside-Out,“ Robots 12 and Vision '88, 1988
[puma 9] Unimation Inc., Unimate Puma Robot Volume I - Technical Manual 398H1, Oct. 1981
[puma 10] Unimation Inc., PUMA MARK III Robot 500 Series Models 552/562 Equipment Manual 398AH1, Jan. 1987
[puma 11] R. M. Stanley, Host Control of PUMA 6503-based Servos Communication Protocol and Arm Specific information, June 1986.
Unimation Inc., (company confidential)
[puma 12] P. I. Corke, The Unimation PUMA servo system, MTM-226, CSIRO, 1994
[val 1] Unimation Inc., User's Guide to VAL version 12, June 1980
[val 2] Unimation Inc., Programming Manual User's Guide to VAL II version 2.0,
Part 1 - Control from the System terminal
Part 2 - Communication with a Supervisory System
Part 3 - Real-Time Path Control
Dec. 1986.
[val 3] B. Shimano, "VAL: A Versatile Robot Programming and Control System,“ Proc. COMPSAC 79
[val 4] B. E. Shimano, C. C. geschke, and C. H. Spalding III, "VAL-II: A New Robot Control System for Automatic Manufacturing"
IEEE Intl Conf on Robotics, Mar. 1984
[unival 1] E. M. Onaga and L. L. Woodland, "Six-Axes Digital Torque Servo for Robotics,“ Robots 11/ISIR 17, 1987
[unival 2] Unimation Inc., UNIVAL Robot Controller - 19 inch Rack Mount Equipment Manual Apr., 1988
LEVEL II
[level II 1] R. Guptill and P. Stahura, "Multiple Robotic Devices: Position Specification and Coordination,“ IEEE Intl Conf. Robotics and
Automation, 1987
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![RCCL ( a Robot Control C Library)
[rccl 1] V. Hayward, Robot Real Time Control User's Manual, TR-EE 83-42,
School of Electrical Engineering, Purdue Univ., Oct. 1983.
[rccl 2] V. Hayward, Introduction to RCCL: A Robot Control 'C' Library, TR-EE 83-43,
School of Electrical Engineering, Purdue Univ., Oct. 1983.
[rccl 3] V. Hayward, RCCL User's Manual Version 1.0, TR-EE 83-46,
School of Electrical Engineering, Purdue Univ., Oct. 1983.
[rccl 4] V. Hayward, RCCL Version 1.0 and Related Software Source Code, TR-EE 83-47,
School of Electrical Engineering, Purdue Univ., Oct. 1983.
[rccl 5] J. Roger, "VAX-LSI Interprocessor FIFO", Purdue University, (undated, unpublished)
[rccl 6] V. Hayward and R. P. Paul, "Robot manipulator Control Under Unix,“ ISIR 13/ Robots 7, 1983.
[rccl 7] V. Hayward and R. P. Paul, "Robot manipulator Control under Unix RCCL: A Robot Control "C" Library," Intl J.
Robotics Research, Vol.5, No.4, 1986.
[rccl 8] J. S. Lee, S. Hayati, V. Hayward, and J. E. Lioyd, "Implementation of RCCL, a robot control C library on a
microVAX II,“ SPIE VoL. 726, Intelligent Robots and Computer Vision, 1986.
[rccl 9] D. Kossman and A. Malowany, "A Multi-processor Robot Control System for RCCL under iRMX,“ IEEE Intl Conf
Robotics and Automation, 1987.
[rccl 10] A. S. Malowany and M. Pilon, "An RCCL Simulator for the Microbo Robot,“ Computers in Eng., ASME, 1988.
[rccl 11] J. Lloyd, M. Parker, and R. McClain, "Extending the RCCL programming Environment to Multiple Robots and
Processors,“ IEEE Intl Conf Robotics and Automation, 1988.
Kali
V. Hayward, L. Daneshmend, A. Nilakantan, and A. Topper, A Selection of Papers "
KALI Project “ McGill Research Center for Intelligent Machines, Aug. 1, 1989.
A. Topper, The McGill Robot I/O Board Rev B, May 1989.
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2013 Programming And Controlling Puma Arms
- 1. Programming and Controlling PUMA Robot Arms 1989, 1999, 2005 Gyoung H. Kim, Ph.D. gyounghkim@open-robotics.com 1
- 2. Contents I. Controlling PUMA Robot Arms with VAL, RCCL, Kali, or ALVIN, 1989. II. RCCL Variants and RCCL Porting Guide, 1999. III. Porting and Running the RCCL on a Realtime Linux/PC, 2005. 2
- 3. Controlling PUMA Robot Arms With VAL, RCCL, Kali, or ALVIN 1989 Gyoung H. Kim, Ph.D 3
- 4. Contents • PUMA - MK I controller - MK II controller - MK III controller - UNIVAL controller • RCCL • Level II • Kali • ALVIN 4
- 5. PUMA 5
- 6. PUMA (Programmable, Universal Machines for Assembly) • Vendor: Unimation,Inc. • Arm Types: 260 Series, 550 Series, 560 Series, 552 Series, 562 Series 760 Series • Controller Types: Mark I, Mark II, Mark III, UNIVAL • Robot Programming Language: VAL, VAL II 6
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- 26. PUMA MK III Controller Configuration 1. control card set [1] LSI-11/73 CPU board [2] 64 KW RAM board [3] quad serial board [4] parallel I/O board [5] A interface card [6] B interface card [7] digital servo boards [8] arm signal interface board 26
- 27. 2. power card set [1] C interface board [2] high power function board [3] power amplifier boards - PWM type 27
- 28. Servo Code Block Diagram Main Timer Interrupt Initialization Disable Host Interrupt Wait for interrupt Read Encoder Counter Host Interrupt Deferred Command ? NO YES Enable Host Interrupt Save command in buffer Execute immediate command Return Position/current control Deferred Command Execution Return 28
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- 32. UNIVAL 32
- 33. UNIVAL Block Diagram Unival Controller Torque Processor Board Servo Control Module Arm Interface Board Major Power Amplifier Expansion Memory (Optional) Distribution Board CX Module VDT Disk Drive Aux. Port Smart I/O Teach Pendant Minor Power Amplifier Signal Connection Board Robot Arm 33
- 34. Typical Controller with Analog Torque Loop Torque Loop / Amplifier DAC M E N AXES Digital Servo and Robot Controller N Axes 34
- 35. UNIVAL Torque Processor Loop Software Torque Command + - + Kp Ki 1-Z Hardware + Linearlizer PWM Chip Power Amp Motor -1 + + A/D Current Offset 35
- 36. UNIVAL Signal Loops Arm Cable AIB SCM Command from VAL Position and velocity Servos TPB PWM ROBOT AMPS Current Feedback Feedback from Robot VAL Position Feedback upon Startup Encoders Potentiometers 36
- 37. UNIVAL Servo System Block Diagram Arm Interface Module Servo and Robot Control Module M Torque Processor Module A/D 3 Axes PWM Chip 3 Axes Power AMP 3 Axes PWM Chip E 3 Axes Power AMP MUX Current Feedback Encoder Feedback 37
- 38. PUMA Control with VAL 1. The hardware does not provide sufficient --- it is too slow for real-time control. processing power 2. The system is not designed to communicate with external computer in a flexible way. The I/O module is only able to provide control signals and process elementary information received from sensors. 3. Memory resources may not be sufficient for large programs. 4. Communication with other computers is limited to interactions with VAL. 5. Inverse kinematics software is not available, hence, trajectories cannot be defined off-line. 6. Control of the arm is performed at the joint level, providing only joint position regulation. 38
- 39. PUMA Control without VAL Advantages : 1. The ability to implement closed-loop control of the manipulator in both task and joint configuration spaces. 2. The ability to use the more powerful processor for inverse kinematics, for trajectory planning, and for control in real-time 3. The ability to test advanced mathematical models for dynamics and real-time control 4. The ability to connect sensory devices through serial, parallel or bus interface 5. The ability to create a new control language which includes commands not available in VAL. 6. The ability to access to a database. 39
- 40. Alternative Hardware Configurations 1. The PUMA's Arm Interface Board is disconnected from the DRV11 card and connected to the parallel interface card in the external machine(only for MK I controllers). 2. Both computers are connected through a standard DEC parallel interface, which offers higher data rates than those of a serial interface. 3. A custom-built interface for bus-to-bus connection can be used. This interface contains a FIFO (First In First Out) hardware buffer. 4. Serial interface through the DLV-11J serial card in the PUMA controller is used. 40
- 41. RCCL 41
- 42. RCCL ( Robot Control "C" Library) RCCL, Purdue (1983) RCCL, McGill (1985) RCCL, JPL (1986) Level II, Cybotech (1987) Timix, U. of Pennsylvania (1988) RCCL, McGill (1986) RCCL, McGill (1988) Kali, McGill (1988) ALVIN, Purdue Multi-RCCL, JPL (1990) RWRCCL, RWU (2001) 42
- 43. Physical Implementation of RCCL VAX Computer VAX COMPUTER RCCL RCCL PROGRAM PROGRAM SERIAL LINE FOR LOADING I/O CONTROL PROGRAM HIGH SPEED PARALLEL LINK LSI 11 CPU TEACH PENDANT COMMUNICATION I/O CONTROLLER A/D CONVERTER 6503 UNIMATION CONTROLLER JOINT CONTROLLERS TO ROBOT 43
- 44. RCCL Block Diagram (Purdue) VAX 780 UNIBUS Serial Unimation Controller CPU LSI-11 CRT RAM Floppy ROM Teach pend. FIFO Aux DLV-11J FIFO Qbus CLOCK DRV-11 SERVO INTERFACE Digital Servo Analog Servo current encoder pulses Power AMP. Arm Cable PUMA 560 ARM 44
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- 46. RCCL Block Diagram Robot Arm Current command Motor state Robot Controller Servomotor Control World Model Torque-current mapping Angles-encoders mapping Safety limits Arm-dependent data Set points Positions Trajectory Arm Interface Transformations Equations Generation Updates Cartesian Joint Interpolation Compliance Queue Arm state Arm Kinematics Cartesian-joint Jacobian Arm configuration TG state Synchronization Motion requests User’s Process 46
- 47. Internal Control-level Execution Sequence NORMAL TASK AND PROCESS EXECUTION DRIVER INTERRUPT HANDLER TAKES CONTROL SWITCH TO CONTROL PROGRAM MEMORY CONTEXT EXECUTE CONTROL: CYCLE read data from LSI 11 call RCI check routine write commands to LSI 11 call control function RESTORE MEMORY CONTEXT INTERRUPT HANDLER RETURNS NORMAL TASK AND PROCESS EXECUTION 47
- 48. Execution Cycle at the Control Level CONTROL LEVEL TASK WAIT FOR NEXT CYCLE DATA FROM LSI 11 COMMANDS TO LSI 11 COMMAND CHECKING CONTROL DIRECTIVE INTERNAL CHECKING CONTROL FUNCTION OPEN DIRECTIVE IDLE NORMAL EXECUTION RELEASE DIRECTIVE OR ERROR CONDITION CLOSE DIRECTIVE 48
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- 50. Position Equations At point p1, p1 = Z T61 = Z-1 = R1 At point p2, p1 = Z T61 = Z-1 = R2 Let 2p1 = R2-1 R1 T61 E1 p1 E1-1 p1 T1 T62 E2 p2 E2-1 p2 T2 p1 E1 E2-1 From point p1 to point p2, T6 = R2 2p1 Drive(s) T2 where Drive(0) = Identity Drive(1) = 2p1-1 p2 Generally, T6 = R P Drive Comply T 50
- 51. LEVEL II 51
- 52. The Four Levels of the Robot Programming Environment Menu Interface Application Program Level II Library Device Driver 52
- 53. RC-X Control Boards Tape Drive Programming Console Supervisor Board System Securities Geometric Operator Board Environment Board Axis Board 2 I/O TTY Sensor Interface Mother Board Axis Board 1 Hand Control Axis Board 3 53
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- 55. Kali 55
- 56. Kali (A creature with many arms in Hind mythology) Characteristics: 1. Programming and control of multiple manipulators operating in close cooperation. 2. Hybrid force/velocity task space with dynamic compensation. 3. Selection of the largest amount of off-the-shelf computing technology. 4. Open architecture design. 56
- 57. High Performance Computing System Current trends: 1. Super or mini-super computers. 2. Workstations with special very high performance floating point accelerations. 3. Special purpose chips such as DSPs (AT&T, TI., etc). 4. Many single board computers operating in parallel. 57
- 60. Kali Block Diagram SUN 3 workstation ethernet link ethernet board VSB CPU 1 68020 CPU 2 68020 CPU 3 68020 VME DAC board power amplifier CPU 4 68020 brake release PUMA 560 memory board BUS parallel I/O board robot I/O board power on/off CPU 5 68020 encoder pulses force/torque sensor ROBOT ARM 60
- 61. Run-Time Structure 1. Synchronous processes i. Trajectory generator ii. Servo control iii. I/O process 2. Asynchronous process i. User process ii.Dynamic computations Processor Communication 1. Message passing 2. Shared memory 61
- 62. Real-time Computing 1. Software support Host: Unix-based workstation Target: real-time operating system (VxWorks) Target-host communication - ethernet 2. Hardware support Servo CPUs: 1 ms servo rate PID control algorithm One CPU for three joints (CPU3 and CPU4) Computational CPUs: I. User program, trajectory generator, kinematics (CPU1) ii. Dynamic computation (CPU2) iii. Supervisor - all I/O information handling(CPU0) 62
- 63. 63
- 67. Spatial Relationships (Ring Structures) B M T A D C = Identity where B : the Manipulator base transform M : the manipulator transform T : the tool transform A : the accommodation transform D : the drive transform C : the goal position of the control frame 67
- 68. 68
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- 70. ALVIN 70
- 71. ALVIN (ALmost Very Intelligent, but Not) - Purdue's new robot system - Named by Prof. C S G Lee - Advanced system in hardware and software 71
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- 73. 73 73
- 74. ALVIN Block Diagram(Stage I) SUN 3 workstation ethernet link ethernet board VSB CPU 1 68030 CPU 2 68030 memory board VMEbus VMEbus adaptor Unimation MK I PUMA controller Qbus adaptor PUMA 560 ROBOT ARM 74
- 75. ALVIN Block Diagram (Stage I) VMEbus System Engineering Computer Network VSB CPU 1 68030 CPU 0 68030 Ethernet Controller SharedMemory VMEbus Bus Adaptor Unimation MK I Controller Bus Adaptor Qbus DRV-11 SERVO INTERFACE CLOCK Digital Servo Analog Servo Power AMP. Arm Cable PUMA 560 ARM 75
- 76. ALVIN Block Diagram (Stage II) Engineering Computer Network SUN workstation Unimation MK III Controller Qbus Adaptor ADC A-interface VMEbus System Ethernet Card CPU 0 (68040) CPU 1 (68040) CPU 2 (68040) CPU 3 (68030) CPU 4 (68030) Shared Memory VMEbus Adaptor VMEbus Adaptor CRT CRT Unimation MK I Controller Qbus Adaptor ADC DRV-11 Digital Servo Paddle Arm Cable Arm Interface Digital Servo Clock / term. Analog Servo Paddle Arm Cable PUMA 562 Robot Arm PUMA 560 Robot Arm B-interface 76
- 77. optinal terminal disk driver teach pendant aux. Alter Super. Quad serial board user connect CMOS memory board CPU board A interface operator panel CX PCA Spare Quad serial board I/O interface I/O PCA digimig B interface POT digital servo boards ENC C interface pow er amplifier high pow er function bd. servomotors potentiometers encoders arm signal board PUMA MK III CONTROLLER 77
- 78. VME BUS VMEbus adaptor VME BUS SYSTEM UNIMATION CONTROLLER Qbus adaptor A interface CX PCA B interface POT digital servo boards ENC C interface pow er amplifier high pow er function bd. servomotors potentiometers encoders arm signal board PUMA MK III Modified for Controller ALVIN I 78
- 79. VME Parallel I/O Board BUS ADC Board DAC Board Robot I/O Board Motor Current ENC CX PCA POT C interface pow er amplifier high pow er function bd. servomotors potentiometers encoders arm signal board PUMA MK III Modified for Controller ALVIN II 79
- 80. ALVIN Block Diagram (Stage III) SUN workstation VSB CPU 1 68040 ethernet board CPU 2 68040 CPU 3 68040 VME Vision Board CCD Cameras ADC board DAC board PUMA 560 & 562 CPU 5 68030 memory board BUS robot I/O board power amplifier CPU 4 68030 parallel I/O board Unimation MK I & III PUMA Controllers parallel I/O board force/torque sensor ROBOT ARMS 80
- 81. References VME bus / VSB Wayne Fischer, "IEEE P1014 - A Standard for the High-Performance VME Bus," IEEE Micro, Feb. 1985. Paul L. Borrill, "MicroStandards Special Feature: A Comparison of 32-Bit Buses," IEEE Micro, Dec. 1985. Walter S. Heath, "Software Design for Real-Time Multiprocessor VMEbus Systems," IEEE Micro, Dec. 1987. Shlomo Pri-Tal, "MicroStandards - The VME subsystem bus (VSB)," IEEE Micro, Apr. 1986. Craig MacKenna and Rick Main, "Backup support gives VMEbus powerful multiprocessing architecture," Electronics, Mar. 22, 1984. VxWorks, VRTX [vrtx 1] James F. Ready, "VRTX: A Real-Time Operating System for Embedded Microprocessor Applications,“ IEEE Micro, Aug. 1986. [vrtx 2] J. Mattox, "A Multi-processor Approach to Using UNIX in a Real-Time Environment,“ WESCON '86 [vrtx 3] S. J. Doyle and P. Bunce, "Real-Time Multiprocessing Requirements,“ WESCON '86 [vxworks 1] Jerry Fiddler and Leslie Kirby, "How to use VMEbus and Ethernet to build real-time distributed systems,“ VMEbus Systems, Sep.-Oct. 1987. [vxworks 2] Jerry Fiddler and David N. Wilner, "VxWorks/Unix Real-Time Network and Development System,“ Mini/MicroNortheast, 1986 [vxworks 3] Wind River Systems, VxWorks version 3.20, 1987. 81
- 82. PUMA/VAL [puma 1] B. Fisher and V. Hayward, "Communication Routines Between the LSI 11-03 and the 6503's", Purdue University, (undated, unpublished) [puma 2] B. Fisher and V. Hayward, "Robot Controller,“ Purdue University, (undated, unpublished) [puma 3] Unimation Inc., "Controlling the PUMA Series 500 Robot Arm Without using VAL", (undated, unpublished, company confidential) [puma 4] R. Vistnes, "Breaking Away From VAL, or How to use your PUMA without using VAL,“ Stanford University, (undated, unpublished) [puma 5] A. Melidy and A. A. Goldenberg, "Operation of PUMA 560 Without VAL,“ Robots 9, 1985 [puma 6] S.-Y. Lee, A Study on the Wrist Servo-Controller of PUMA-760 Robot, MS Thesis, Dept of ME, KAIST, Feb., 1986. [puma 7] P. Nagy, "A New Approach to Operating a PUMA manipulator Without Using VAL,“ Robots 12 and Vision '88, 1988 [puma 8] P. Nagy, "The Puma 560 Industrial Robot: Inside-Out,“ Robots 12 and Vision '88, 1988 [puma 9] Unimation Inc., Unimate Puma Robot Volume I - Technical Manual 398H1, Oct. 1981 [puma 10] Unimation Inc., PUMA MARK III Robot 500 Series Models 552/562 Equipment Manual 398AH1, Jan. 1987 [puma 11] R. M. Stanley, Host Control of PUMA 6503-based Servos Communication Protocol and Arm Specific information, June 1986. Unimation Inc., (company confidential) [puma 12] P. I. Corke, The Unimation PUMA servo system, MTM-226, CSIRO, 1994 [val 1] Unimation Inc., User's Guide to VAL version 12, June 1980 [val 2] Unimation Inc., Programming Manual User's Guide to VAL II version 2.0, Part 1 - Control from the System terminal Part 2 - Communication with a Supervisory System Part 3 - Real-Time Path Control Dec. 1986. [val 3] B. Shimano, "VAL: A Versatile Robot Programming and Control System,“ Proc. COMPSAC 79 [val 4] B. E. Shimano, C. C. geschke, and C. H. Spalding III, "VAL-II: A New Robot Control System for Automatic Manufacturing" IEEE Intl Conf on Robotics, Mar. 1984 [unival 1] E. M. Onaga and L. L. Woodland, "Six-Axes Digital Torque Servo for Robotics,“ Robots 11/ISIR 17, 1987 [unival 2] Unimation Inc., UNIVAL Robot Controller - 19 inch Rack Mount Equipment Manual Apr., 1988 LEVEL II [level II 1] R. Guptill and P. Stahura, "Multiple Robotic Devices: Position Specification and Coordination,“ IEEE Intl Conf. Robotics and Automation, 1987 82
- 83. RCCL ( a Robot Control C Library) [rccl 1] V. Hayward, Robot Real Time Control User's Manual, TR-EE 83-42, School of Electrical Engineering, Purdue Univ., Oct. 1983. [rccl 2] V. Hayward, Introduction to RCCL: A Robot Control 'C' Library, TR-EE 83-43, School of Electrical Engineering, Purdue Univ., Oct. 1983. [rccl 3] V. Hayward, RCCL User's Manual Version 1.0, TR-EE 83-46, School of Electrical Engineering, Purdue Univ., Oct. 1983. [rccl 4] V. Hayward, RCCL Version 1.0 and Related Software Source Code, TR-EE 83-47, School of Electrical Engineering, Purdue Univ., Oct. 1983. [rccl 5] J. Roger, "VAX-LSI Interprocessor FIFO", Purdue University, (undated, unpublished) [rccl 6] V. Hayward and R. P. Paul, "Robot manipulator Control Under Unix,“ ISIR 13/ Robots 7, 1983. [rccl 7] V. Hayward and R. P. Paul, "Robot manipulator Control under Unix RCCL: A Robot Control "C" Library," Intl J. Robotics Research, Vol.5, No.4, 1986. [rccl 8] J. S. Lee, S. Hayati, V. Hayward, and J. E. Lioyd, "Implementation of RCCL, a robot control C library on a microVAX II,“ SPIE VoL. 726, Intelligent Robots and Computer Vision, 1986. [rccl 9] D. Kossman and A. Malowany, "A Multi-processor Robot Control System for RCCL under iRMX,“ IEEE Intl Conf Robotics and Automation, 1987. [rccl 10] A. S. Malowany and M. Pilon, "An RCCL Simulator for the Microbo Robot,“ Computers in Eng., ASME, 1988. [rccl 11] J. Lloyd, M. Parker, and R. McClain, "Extending the RCCL programming Environment to Multiple Robots and Processors,“ IEEE Intl Conf Robotics and Automation, 1988. Kali V. Hayward, L. Daneshmend, A. Nilakantan, and A. Topper, A Selection of Papers " KALI Project “ McGill Research Center for Intelligent Machines, Aug. 1, 1989. A. Topper, The McGill Robot I/O Board Rev B, May 1989. 83
- 84. End of Part 1 84
- 85. RCCL Variants 1999 Gyoung H. Kim, Ph.D
- 88. RCCL (Purdue, 1983) VAX-11780 UNIBUS Serial FIFO Floppy Teach Pend. Aux CRT CPU LSI-11 RAM ROM DLV-11J FIFO Qbus CLOCK DRV-11 SERVO INTERFACE Unimation Controller Digital Servo Analog Servo current encoder pulses Power AMP. Arm Cable PUMA 560 ARM 88
- 90. RCCL Routines 90
- 91. Routine Explanation (1) main(): The main program. (2) startup(): Connect "setpoint_n()" to the clock interrupt. Initialize and check hardware connection. (3) move(park): "park" is a built-in position. Usually the robot starts from this position. (4) pumatask(): The actual user process. Users write only this routine. (5) release(): Stop the trajectory generator. (6) setpoint(): The trajectory generator. (7) jnsend_n(): Send the setpoints to the robot controller in the global variable "chg". (8) getobsj_n(): Get the actual robot position from the global variable "how". (9) getobst_n(): Get the arm currents from the ADC from the global variable "how". 91
- 92. ALVIN-RCCL (Purdue, 1991) 68030s/VxWorks VMEBus CPU #1 CPU #2 Shared Mem. Bus adapter CRT Bus adapter Qbus CLOCK DRV-11 SERVO INTERFACE Unimation Controller Digital Servo Analog Servo current encoder pulses Power AMP. Arm Cable PUMA 560 ARM 92
- 93. RCCL-ALVIN (Purdue, 1998) Host PC/QNX PCI Bus Bus adapter Bus adapter Qbus CLOCK DRV-11 SERVO INTERFACE Unimation Controller Digital Servo Analog Servo current encoder pulses Power AMP. Arm Cable PUMA 560 ARM 93
- 94. Software Architecture of ALVIN-RCCL 94
- 95. RCCL / RCI (Standard) Host Computer Host computer bus Serial Parallel I/O Floppy Unimation Controller CPU LSI-11 Teach Pend. Aux CRT RAM ROM DLV-11J Parallel I/O Qbus CLOCK DRV-11 SERVO INTERFACE Digital Servo Analog Servo current encoder pulses Power AMP. Arm Cable PUMA ARM 95
- 96. Multi-RCCL • Multi-RCCL v5.0 John Lloyd and Vincent Hayward, 1992. Official release of Multi-RCCL. • Multi-RCCL v5.1 John Lloyd, 1997. Simulation mode on Linux. • Multi-RCCL v5.1.4 Torsten Scherer, 1999. Unofficial modifications for Linux. 96
- 97. Hardware Architecture of Multi-RCCL 97
- 98. RWRCCL • RWRCCL(Roger Williams RCCL): RCCL modified by Matthew Stein at Roger Williams University in 2000. • Configuration – ARM: a single puma560 only. – Hardware: PC + Trident TRC 004/006 boards. – Software: RCCL ported to rtlinux. Position control is added to RCCL. 98
- 99. RWRCCL (TRC Boards) Host PC/Linux ISA bus TRC004 board Unimation Controller TRC006 Board Power amplifier Arm Cable PUMA ARM 99
- 100. Hardware Architecture of RWRCCL 100
- 101. Software Architecture of RWRCCL 101
- 102. Graphic Simulator of RWRCCL 102
- 103. QRobot • A multitasking QNX/PC-based robot control system. • Developed at Clemson University in 1998. • Target arm: PUMA 560. • Hardware: PC + MultiQ board + Unimation controller. 103
- 104. RCCL-QRobot (MultiQ Board) Host PC PCI bus MultiQ board Unimation Controller Preamplifiers filtering circuits Power amplifier Arm Cable PUMA ARM 104
- 105. ARCL (Advanced Robot Control Language) • Developed by Peter I. Corke, 1993. • Inspired by an early version of RCCL. • Monitor and Interpreter to run VAL-II programs. 105
- 107. End of Part 2 107
- 108. Porting and Running the RCCL on a Real-time Linux/PC 2005 Gyoung H. Kim, Ph.D 108
- 109. RCCL Poring • Porting RCCL v1.0 to Linux. • Developing a graphic simulator for RCCL v1.0. • Porting RCCL v1.0 to Linux/RTAI. • Porting RCCL v1.0 to Linux/Xenomai. • Patching Multi-RCCL for a newer Linux. • Patching RWRCCL for a newer Linux. • Porting RWRCCL to Linux/RTAI. 109
- 110. Test Environment • • • • • • RCCL: v1.0 (1983) Simderella: v2.0.2 (1995) gcc: 2.9.x, 3.0.4, 3.2 Linux distribution: - Redhat 7.3, Redhat 8.0 - Debian woody, Debian sarge CPU: Pentium III, Pentium 4, VIA C3 RTAI - Linux kernel: 2.4.19 (only for RTAI) - RTAI distribution: 2.4.11 - RTAI modules used by RCCL: rtai, rtai_sched, rtai_fifos, rtai_shm, rtai_libm 110
- 111. RCCL v1.0 on Linux 111
- 112. Running Modes of RCCL (Modes are specified at h/switch.h) 1. PLAN mode (no signal or interrupt) - setpoint_n() is repeatedly called until completed = 0. 2. FAKE mode (signal – simulated interrupt) - At every 28ms, clock() generate a signal. - Signal handler calls setpoint_n(). 3. REAL mode (hardware interrupt) - At every 28ms, a hardware interrupt signal is generated from the Unimation controller. - Interrupt service routine calls setpoint_n(). 112
- 113. Running RCCL on Linux (BSD mode with lib5) • • • RCCL v1.0 written in pre-ANSI C run on BSD Unix. While older Linux distributions with lib5 were BSD-flavored, recent Linux distributions with lib6 are SYSV-flavored. To port RCCL v1.0 to Linux, (1) Install BSD headers and libraries. On debian, apt-get install altgcc (2) Do the following modifications: - Change <signal.h> and <sgtty.h> to <bsd/signal.h> and <bsd/sgtty.h>, respectively. - Implement nap( ) with usleep( ). - Insert more FAKE and REAL mode switches for cleaner compiling. - Correct up some K & C C-language syntax. - Remove malloc_l( ) and free_l( ) routines. (3) Link the BSD library with the option, -lbsd. 113
- 114. Running RCCL on Linux (SYSV mode with libc6) (1) Change from BSD stuffs to SYSV - sgtty to termio - nap( ) to usleep( ) (2) Change pre-ANSI C stuffs to gcc - const( ) to rccl_const ( ) (3) Change clock( ) location - In RCCL v1.0, separated clock.c and vfork ( ) were used. - Add clock( ) to main.c and replace vfork ( ) with fork ( ). (4) Do the following minor modifications: - Add print.c for more printouts. - Add printst( ) to jnsend_n( ) of misc.c - Create linux directory for examples. - Move main.c from src to linux directory. - Adjust the delay parameter of usleep( ). - Add FAKE_DEBUG for better debugging. 114
- 115. Simderella (A general-purpose robot simulator for kinematics) Current joint angles Simderella connel (robot controller) Desired joint angles, velocities, accelerations simmel (forward kinematics calculator) Homogeneous matrices of robot links bemmel (X-windows drawing program) Graphic visualization 115
- 116. RCCL + Simderella (on-line) (Simderella as a graphic simulator of RCCL) For on-line simulation, 1. 2. 3. 4. 5. 6. Modify connel/main.c so that desired joint angles are from j6, a global variable of RCCL. Combine the main.c of RCCL and the main.c of connel. After setpoint_n( ), call user_move_robot( ) at each clock signal. Modify user_move_robot( ) and move_robot( ) of connel/moving.c to bypass some dynamics and kinematics calculations. Adjust D-H parameters of PUMA arms. Link RCCL libraries when compiling connel/main.c. Run Simderella. 116
- 117. Screenshot of RCCL + Simderella • • Right window: connel’s window printing out joint angles from a RCCL program. Left window: bemmel’s window drawing a PUMA arm with the joint angles. 117
- 118. RCCL + Simderella (off-line) For off-line simulation, 1. Modify connel/main.c so that desired joint angles are read from an external file, @.out and they are fed into user_move_robot( ). 2. Modify user_mode_robot( ) and move_robot( ) of connel/moving.c to bypass some dynamics and kinematics calculations. 3. Adjust D-H parameters of PUMA arms. 4. Compile connel/main.c. 5. Run a RCCL program with “-d” option. 6. Copy @.out to connel directory. 7. Run Simderella. 118
- 119. RCCL v1.0 on Linux/RTAI 119
- 120. Porting RCCL to RTAI Software Architecture 120
- 121. Software Components 1. User-space task (1) User command monitor: - Send start/stop/break/resume command to RT tasks in the kernel space. - Receive fifo messages from the RT tasks - Print out the content of the shared memory. 2. Kernel-space tasks (1) RT task #1: the main.c of RCCL (non-periodic) (2) RT task #2: the TG + RTC + moper of RCCL (periodic task) (3) fifo handler: - Send commands to the RT tasks. - Receive commands from User command monitor 3. Shared memory: Store all the output data from RT tasks. 121
- 122. RTAI Porting Procedure 1. Kernel memory allocation Change malloc( ) and free ( ) to kmalloc( ) and kfree( ), respectively. 2. File output/stdout/stderr Make shm_printf( ) and redirect all the file output/stdout/stderr to the shared memory. 3. Modify kernel vprintf( ) to handle float variables. 4. Replacement of glibc (1) sprintf – kernel’s lib.a (2) strcat, strcpy, strlen - #include <rtai.h> (3) math library – rtai_libm.o module (4) others – gcc’s bootstarp libgcc.a 5. Follow the compiling/linking options of RTAI. 6. Distribution- or CPU-specific options: (1) Redhat 7.3: use kgcc without -mpreferred-stack-boundary=2. (2) Redhat 8.0: use gcc with -mpreferred-stack-boundary=2. (3) VIA EPIA 800 board: use –m586 122
- 123. RTAI Running Procedure 1. 2. 3. 4. 5. Install rtai modules modprobe rtai modprobe rtai_sched modprobe rtai_fifos modprobe rtai_shm modprobe rtai_libm Install the RCCL realtiime module insmod rccl.o Start the “user command monitor” as ./rccl_app Type s/q/b/r keys at the prompt of “rccl_app” to start/quit/break/resume realtime RCCL tasks. After the RCCL tasks are finished, joint angles and other information are saved to file “@.out” 123
- 124. RCCL Porting Results • • • RCCL on BSD- and SYSV-mode Linux – PLAN/FAKE/REAL modes can be compiled. – PLAN and FAKE modes run correctly. – Clock intervals less than 1 ms work. RCCL + Simderella in on-line mode – FAKE mode with 30ms clock interval work. – Faster than 30ms is impossible due to the slow socket communication of Simderella. RCCL on RTAI – Clock rate 50Hz (20ms) works without any problem. – All the examples which do not need a real arm can be compiled and run correctly. – A faster clock rate is possible when moper functions are needed. – For the Unination controller still with the digital servo boards, clock interrupt signals should be received from the Unimation controller to prevent clock drifts. 124
- 126. Analysis Results of RWRCCL • Routines are fully documented. • Trace and analysis of the program execution flow are done. • Documentation on the program execution flow is almost done. 126
- 127. Updating RWRCCL to a newer RTLinux • Environment: - debian sarge 3.1r1 - gcc 3.3 6 - glibc 2.3.2 • RTLinux: - rtlinux-3.2-rc1 - kernel 2.4.27 • Patches (1) gcc-dependent: newline in a literal string, sys_errlist, varargs.h (2) imake configuration bug. 127
- 128. Porting Results of RWRCCL-rtlinux • Trajectory generation sampling interval: 27ms • Servo sampling interval: 0.9 ms (position control mode, PID control) • Simulation mode needs a slower sampling rate due to the slow X11 graphics. • Dry-running mode in real-time is added. 128
- 129. Porting RWRCCL to RTAI • RTAI: - rtai-3.2 - kernel 2.4.27 • Patches (1) rtlinux-dependent directories: $RCCL/jls (kernel modules) $RCCL/puma (user-space routines) (2) Utilities for the puma interface card: $RCCL/rtlinux (3) Conflicting macro definition: FREE(x) is changed to RCCL_FREE(x) (FREE(x) is also defined at rtai_lxrt.h) 129
- 130. Ongoing Projects • Modifying RCCL for running various arms. • Porting RCCL v1.0 to Xenomai. • Developing a front-end interpreter for RCCL. • Modifying RCCL v1.0 for running multiple arms in independent and/or coordinative modes. • Running RCCL on Non-X86 CPUs. 130
- 131. End of Part 3 131