Newsgroups: comp.robotics
Path: brunix!uunet!stanford.edu!agate!usenet.ins.cwru.edu!landru!gdg
From: gdg@landru.eeap.cwru.edu (Gregory D. Glosser)
Subject: Re: Controlling an Adept One robot arm from a Sun Workstation.
Message-ID: <1992May4.170624.307@usenet.ins.cwru.edu>
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Organization: Case Western Reserve Univ. Cleveland, Ohio (USA)
References: <3409@inca.comlab.ox.ac.uk>
Date: Mon, 4 May 92 17:06:24 GMT
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We have successfully replaced the controller on an Adept-One
robot as well as several other industrial robots including
a GE P50 (Hitachi PW10), a Robotics Research Corporation arm,
a GE GP-132 (made by Volkswagon), and a Seiko D-Tran XY2000.

All of our robot interfaces:

- allow direct access to motor amplifier
  current commands, brake release, and power enable inputs.

- Performs incremental optical encoder count-up, count-down, and
  reset, with cumulative joint angles directly accessible.

- All I/O accessable via standard A24/D16 VME addressing.

- Software easily written in C or language of choice.

- Allows for the alteration of the electronic commutation profiles (AdeptOne).

We interface directly to the robot, bypassing the original controller.
The interace in connected to a standard A24/D16 VME bus which can 
communicate to a SUN 3 or SUN 4 host by either the use of a backplane
or a SCSI-488 communication system.  We have developed custom boards
for optical encoder counting, resolver interfacing, and PWM signal
generation.  We have also developed our own Multiprocessor system
for VME-based systems.  If you are interested please contact me.
If you give me your address, I can send you a video tape and literature
in the mail.

Greg Glosser
Facilities Manager
Center for Automation and Intelligent Systems Research
Case Western Reserve University
Cleveland, Ohio 44106
gdg@r2d2.eeap.cwru.edu


