D ESIG N O F D D R O B O T SY STEM

A B ST R A C T : The paper presentsan approach to the design ofa new category ofrobots with built in direct drive m otors. The whole m echanism becom es m uch sim plerbecause the use ofm echanicalelem ents astheuseofbearingsand connection elem entsism ini- m ized.Thebenetsofa directdriven robotareshown on a realm echanism that was built in our institute. Thedynam icm odelwasderived by theLagrangepro- cedure. Variouscontrolalgorithm sincluding Variable Structure Control(VSC) can be used. A m ultipro- cessor card containingve transputers and one Pow- erPC m icroprocessor is used as a controller. To im - provetheperform ancesofthecontrollernew cardsare used fortheconnection with them echanism .Transfer from sim ulationsto experim entsisenabled by the use oftheopen structureofrobotcontroller.Foruser,itis alsopossibletoincludealgorithm in theexistingstruc- ture,like the assem bling ofblocks in the sim ulation program s. Results can be followed by the real{tim e display ofthedesired system variables,which can also besaved forthelaterprocessing.