This document discusses programming and controlling PUMA robot arms using various software libraries and controllers. It provides an overview of PUMA robot arms, their controllers including the Mark I, Mark II, Mark III, and UNIVAL controllers. It then discusses various software libraries for controlling PUMA arms including VAL, RCCL, Level II, Kali, and ALVIN. It provides block diagrams and descriptions of how these different software libraries interface with and control PUMA robot arms.

1. Programming and Controlling
PUMA Robot Arms
1989, 1999,
1989 1999 2005
Gyoung H. Kim, Ph.D.
1

2. Contents
I. Controlling PUMA Robot Arms with VAL,
g ,
RCCL, Kali, or ALVIN, 1989.
II. RCCL Variants and RCCL Porting Guide,
1999.
III. Porting and Running the RCCL on a Real-
time Linux/PC 2005
Linux/PC, 2005.
2

3. Controlling PUMA Robot Arms
With VAL RCCL Kali or ALVIN
VAL, RCCL, Kali,
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
Series Series, Series
760 Series
• Controller Types:
Mark I, Mark II, Mark III, UNIVAL
• Robot Programming Language:
VAL,
VAL VAL II
6

7. 7

8. 8

9. 9

10. 10

11. 11

12. 12

13. 13

14. 14

15. 15

16. 16

17. 17

18. 18

19. 19

20. 20

21. 21

22. 22

23. 23

24. 24

25. 25

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.
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 Host
Interrupt Interrupt
Initialization Disable
Host Interrupt Deferred NO
Command ?
YES
Wait for Read
interrupt Encoder Save Execute
C
Counter
t command immediate
in buffer command
Enable
Host Interrupt Return
Position/current
control
Deferred
Command
Execution
Return
R t
28

29. 29

30. 30

31. 31

32. UNIVAL
32

33. UNIVAL Block Diagram
Unival Controller
Torque Servo Expansion
Processor Control Memory
Board Module (Optional)
CX Module
Distribution VDT
Arm Interface Board Board Disk Drive
Aux. Port
Smart I/O
Teach
Pendant
Major Power Minor Power
Amplifier 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 Hardware
Torque + Kp + Linearli er
Linearlizer PWM
Chip
Power
Amp
Command
- +
Motor
Ki
1-Z -1
+ A/D
+
Current
Offset
35

36. UNIVAL Signal Loops
Arm
Cable
SCM AIB
Command Position
from and TPB PWM ROBOT
VAL velocity
Servos AMPS
Current Feedback
Feedback from Robot
Encoders
VAL Position Feedback upon Startup Potentio-
meters
36

37. UNIVAL Servo System Block Diagram
Arm Interface Module
M E
Servo Torque 3 Axes 3 Axes
and Processor PWM Chip Power
Robot Module AMP
Control
Module
A/D
3 Axes 3 Axes
PWM Chip Power
AMP
MUX
Current Feedback
Encoder Feedback
37

38. PUMA Control with VAL
1. The hardware does not provide sufficient processing power
--- it is too slow for real-time control
real time control.
2. The system is not designed to communicate with external
computer in a flexible way The I/O module is only able to
way.
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
, , j
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 DRV-
11 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.
buffer
4. Serial interface through the DLV-11J serial card in the PUMA
controller is used.
used
40

41. RCCL
41

42. RCCL ( Robot Control quot;Cquot; Library)
RCCL, Purdue
(1983)
RCCL, McGill
(
(1985)
)
RCCL, JPL RCCL, McGill
(1986) (1986)
Level II, Cybotech
(1987)
Timix,
U. of Pennsylvania RCCL, McGill
(1988) (1988)
Kali, McGill
(1988)
ALVIN,
ALVIN Purdue Multi-RCCL,
Multi RCCL JPL
(1990)
RWRCCL, RWU
(2001)
42

43. Ph i l Implementation of RCCL
Physical I l t ti f
VAX Computer
p
VAX COMPUTER
RCCL
RCCL
PROGRAM
PROGRAM
SERIAL LINE FOR
LOADING I/O
CONTROL
HIGH SPEED PROGRAM
PARALLEL LINK
TEACH LSI 11 CPU
PENDANT
COMMUNICATION
I/O CONTROLLER
A/D
CONVERTER
6503 JOINT CONTROLLERS
UNIMATION CONTROLLER TO ROBOT
43

44. RCCL Block Diagram (Purdue)
VAX 780 UNIBUS
Serial FIFO
Unimation Controller Teach
CRT Floppy
ppy Aux
pend.
pend
CPU RAM ROM DLV-11J FIFO
LSI-11
Qbus
CLOCK DRV-11
DRV 11
SERVO Digital Analog Power
INTERFACE Servo Servo AMP.
current
Arm Cable
encoder
pulses
PUMA 560 ARM
44

45. 45

46. RCCL Block Diagram
Robot Arm
Current command
C t d Motor t t
M t state
Robot Controller Servomotor Control
Arm Interface
Torque-current mapping
Angles-encoders
mapping
Safety limits
Arm-dependent data
Set points Arm state
Positions Trajectory Arm
World Model Generation Kinematics
Cartesian-joint
Transformations Updates Cartesian Jacobian
Equations Joint Interpolation Arm
Compliance configuration
Queue TG state Synchronization
Motion requests
q
User’s Process
46

47. Internal Control-level Execution Sequence
NORMAL TASK
AND PROCESS
EXECUTION
DRIVER
INTERRUPT
HANDLER
TAKES SWITCH TO CONTROL
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 CONTROL
FROM INTERNAL DIRECTIVE
LSI 11 CHECKING OPEN
DIRECTIVE
COMMANDS CONTROL IDLE
TO COMMAND FUNCTION
LSI 11 CHECKING
NORMAL
EXECUTION
CLOSE
RELEASE DIRECTIVE
DIRECTIVE
OR
ERROR CONDITION
48

49. 49

50. Position E
P iti Equations
ti
At point p1,
p1 = Z T61 E1
T61 = Z-1 p1 E1-1
= R1 p1 T1
At point p2,
p1 = Z T62 E2
T61 = Z-1 p2 E2-1
= R2 p2 T2
Let 2p1 = R2-1 R1 p1 E1 E2-1
From point p1 to point p2,
T6 = R2 2p1 Drive(s) T2
where Dri e(0) = Identity
here Drive(0) Identit
Drive(1) = 2p1-1 p2
Generally,
T6 = R P Drive Comply T
50

51. LEVEL II
51

52. Th Four Levels of the Robot
The F L l f th R b t
Programming Environment
Menu Interface
Application Program
Level II Library
Device
Driver
52

53. RC-X Control Boards
Tape Programming System Hand
Drive Console Securities Control
Supervisor Geometric Environment I/O
Board Operator Board
Board
B d
TTY
Mother Board Sensor
Interface
Axis Board 1 Axis Board 2 Axis Board 3
53

54. 54

55. Kali
55

56. K li
Kali
(A creature with many arms
in Hi d
i Hind mythology)
th l )
Characteristics:
1. Programming and control of multiple manipulators
operating in close cooperation.
p g p
2. Hybrid force/velocity task space with dynamic
compensation.
compensation
3. Selection of the largest amount of off-the-shelf
computing technology.
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
p y g p g
point accelerations.
3. Special purpose chips such as DSPs (AT&T, TI., etc).
4. Many single board computers operating in parallel.
57

58. Kali Software Directory
58

59. Kali src Directory
59

60. Kali Block Diagram
SUN 3
workstation
ethernet
link VSB
ethernet CPU 1 CPU 2 CPU 3 CPU 4 CPU 5 memory
board 68020 68020 68020 68020 68020 board
VME BUS
DAC robot I/O p
parallel
board board I/O board
power power force/torque
amplifier on/off sensor
brake encoder
release pulses
PUMA 560 ROBOT ARM
60

61. R
Run-Time Structure
Ti St t
1.
1 Synchronous processes
i. Trajectory generator
ii. Servo control
iii.
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
Real-time
1. Software support
Host: Unix-based workstation
Target: real-time operating system (VxWorks)
Target-host communication - ethernet
T th t i ti th t
2.
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

64. Kali Graphic Simulator
64

65. Kali Graphic Simulator
65

66. Kali Graphic Simulator
66

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 : th d i transform
the drive t f
C : the goal position of the control frame
67

68. 68

69. 69

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

72. 72
72

73. 73
73

74. ALVIN Block Diagram(Stage I)
SUN 3
workstation
ethernet
link VSB
ethernet CPU 1 CPU 2 memory
board 68030 68030 board
VMEbus
VMEbus
adaptor
Qbus Unimation MK I
adaptor PUMA controller
PUMA 560 ROBOT ARM
74

75. ALVIN Block Diagram (Stage I)
VMEbus System VSB
Engineering Ethernet CPU 0 CPU 1 Shared-
Computer Controller 68030 68030 Memory
Network
VMEbus
Bus Adaptor
Unimation MK I Controller Bus Adaptor
Qbus
DRV-11
SERVO Digital Analog Power
INTERFACE Servo Servo AMP.
CLOCK Arm Cable
PUMA 560 ARM
75

76. ALVIN Block Diagram (Stage II)
Engineering Computer Network
SUN VMEbus System
workstation Ethernet Card
CPU 0 (68040) CRT
CPU 1 (68040)
CPU 2 (68040) CRT
Unimation Unimation
MK III CPU 3 (68030) MK I
Controller CPU 4 (68030) Controller
Qbus Adaptor Shared Memory Qbus Adaptor
VMEbus Adaptor ADC
ADC
VMEbus Adaptor DRV-11
A-interface
Arm Interface
B-interface
Digital Servo Digital Servo
g
Paddle Clock / term.
Arm Cable Analog Servo
Paddle
Arm Cable
PUMA 562 PUMA 560
Robot Arm Robot Arm
76

77. optinal
i l
disk teach aux. Super. Alter digimig Spare
terminal
driver pendant
Quad serial Quad serial
board
b d board
b d
user I/O PCA I/O CPU CMOS memory
connect interface board board
operator A
panel interface
C B POT
CX PCA interface interface
digital servo ENC
boards
power
amplifier
high power servomotors
function bd.
potentiometers encoders
arm signal
board
PUMA MK III CONTROLLER
77

78. VME BUS
VMEbus
adaptor
VME BUS
SYSTEM
UNIMATION
CONTROLLER Qbus
adaptor
A
interface
C B POT
CX PCA interface interface
digital servo ENC
boards
power
amplifier
high power servomotors
function bd.
potentiometers encoders
arm signal
board
PUMA MK III Controller
Modified f
M difi d for ALVIN I
78

79. VME BUS
Parallel I/O ADC DAC Robot I/O
Board Board Board Board
Motor
Current
ENC POT
C
CX PCA interface
power
amplifier
high power servomotors
function bd.
potentiometers encoders
arm signal
board
PUMA MK III Controller
Modified for ALVIN II
79

80. ALVIN Block Diagram (Stage III)
SUN
workstation
k t ti
VSB
ethernet CPU 1 CPU 2 CPU 3 CPU 4 CPU 5 memory
board 68040 68040 68040 68030 68030 board
VME BUS
Vision ADC DAC robot I/O parallel parallel
Board board board board I/O board I/O board
CCD force/torque
Cameras power Unimation sensor
amplifier MK I & III PUMA
Controllers
PUMA 560 & 562 ROBOT ARMS
80

81. R f
References
VME bus / VSB
Wayne Fischer, quot;IEEE P1014 - A Standard for the High-Performance VME Bus,quot;
IEEE Micro, Feb. 1985.
Paul L. Borrill, quot;MicroStandards Special Feature: A Comparison of 32-Bit Buses,quot;
IEEE Micro, Dec. 1985.
Walter S. Heath, quot;Software Design for Real-Time Multiprocessor VMEbus Systems,quot;
IEEE Micro, Dec. 1987.
Micro Dec 1987
Shlomo Pri-Tal, quot;MicroStandards - The VME subsystem bus (VSB),quot;
IEEE Micro, Apr. 1986.
Craig MacKenna and Rick Main, quot;Backup support gives VMEbus powerful multiprocessing
architecture,quot; Electronics, Mar. 22, 1984.
VxWorks, VRTX
[vrtx 1] James F. Ready, quot;VRTX: A Real-Time Operating System for Embedded Microprocessor Applications,“
IEEE Micro, Aug. 1986.
[vrtx 2] J. Mattox, quot;A Multi-processor Approach to Using UNIX in a Real-Time Environment,“ WESCON '86
[vrtx 3] S J Doyle and P Bunce quot;Real-Time Multiprocessing Requirements,“ WESCON '86
S. J. P. Bunce, Real-Time Requirements 86
[vxworks 1] Jerry Fiddler and Leslie Kirby, quot;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, quot;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, quot;Communication Routines Between the LSI 11-03 and the 6503'squot;, Purdue University, (undated,
unpublished)
[puma 2] B. Fisher and V. Hayward, quot;Robot Controller,“ Purdue University, (undated, unpublished)
[puma 3] Unimation Inc., quot;Controlling the PUMA Series 500 Robot Arm Without using VALquot;,
(undated, unpublished, company confidential)
[puma 4] R. Vistnes, quot;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, quot;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, quot;A New Approach to Operating a PUMA manipulator Without Using VAL “ Robots 12 and Vision '88, 1988
P Nagy VAL,“ '88
[puma 8] P. Nagy, quot;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)
[p ] , y
[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, quot;VAL: A Versatile Robot Programming and Control System,“ Proc. COMPSAC 79
[val 4] B. E. Shimano, C. C. geschke, and C. H. Spalding III, quot;VAL-II: A New Robot Control System for Automatic Manufacturingquot;
IEEE Intl Conf on Robotics, Mar. 1984
[unival 1] E. M. Onaga and L. L. Woodland, quot;Six-Axes Digital Torque Servo for Robotics,“ Robots 11/ISIR 17, 1987
[unival
[ ni al 2] Unimation Inc UNIVAL Robot Controller - 19 inch Rack Mo nt Eq ipment Man al Apr 1988
Inc., Mount Equipment Manual Apr.,
LEVEL II
[level II 1] R. Guptill and P. Stahura, quot;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.
g g
[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,
V Hayward 10 Code 83-47
School of Electrical Engineering, Purdue Univ., Oct. 1983.
[rccl 5] J. Roger, quot;VAX-LSI Interprocessor FIFOquot;, Purdue University, (undated, unpublished)
[rccl 6] V. Hayward and R. P. Paul, quot;Robot manipulator Control Under Unix,“ ISIR 13/ Robots 7, 1983.
[rccl 7] V. Hayward and R. P. Paul, quot;Robot manipulator Control under Unix RCCL: A Robot Control quot;Cquot; Library,quot; Intl J.
Robotics Research Vol.5, No.4, 1986.
Research, Vol 5 No 4 1986
[rccl 8] J. S. Lee, S. Hayati, V. Hayward, and J. E. Lioyd, quot;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, quot;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, quot;An RCCL Simulator for the Microbo Robot,“ Computers in Eng., ASME, 1988.
A S M Pilon Robot “ Eng ASME 1988
[rccl 11] J. Lloyd, M. Parker, and R. McClain, quot;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 quot;
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 V i t
Variants
1999
Gyoung H. Kim, Ph.D
G H Ki Ph D

86. RCCL-related Systems
• RCCL v1.0-based
• Multi-RCCL
• RWRCCL
• Qrobot
• ARCL
86

87. RCCL v1.0
v1 0
Configurations
87

88. RCCL (Purdue, 1983)
VAX-11780 UNIBUS
Serial FIFO
Floppy Teach
Aux
Pend.
CRT
CPU RAM ROM DLV-11J FIFO
LSI-11
Qbus
CLOCK DRV-11
SERVO Digital Analog Power
INTERFACE Servo Servo AMP.
current
Arm Cable
Unimation Controller encoder
pulses
PUMA 560 ARM
88

89. RCCL Architecture
89

90. RCCL Routines
90

91. Routine Explanation
(1) main(): The main program.
(2) startup():
Connect quot;setpoint_n()quot; to the clock interrupt.
Initialize and check hardware connection.
(3) move(park):
quot;parkquot; 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) j
jnsend_n():
d ()
Send the setpoints to the robot controller in the global variable quot;chgquot;.
(8) getobsj_n():
Get the actual robot position from the global variable quot;howquot;.
(9) getobst_n():
Get the arm currents from the ADC from the global variable quot;howquot;.
91

92. ALVIN-RCCL (Purdue, 1991)
68030s/VxWorks
VMEBus
CPU #1 CPU #2 Shared Mem
Mem. Bus adapter
CRT
Bus adapter
Qbus
CLOCK DRV-11
SERVO Digital Analog Power
INTERFACE Servo Servo AMP.
current
t
Arm Cable
Unimation Controller encoder
pulses
PUMA 560 ARM
92

93. RCCL-ALVIN (P d
RCCL ALVIN (Purdue, 1998)
Host PC/QNX
PCI Bus
Bus adapter
Bus adapter
Qbus
CLOCK DRV-11
SERVO Digital Analog Power
INTERFACE Servo Servo AMP.
current
t
Arm Cable
Unimation Controller encoder
pulses
PUMA 560 ARM
93

94. Software Architecture of ALVIN RCCL
ALVIN-RCCL
94

95. RCCL / RCI (Standard)
Host Computer Host computer bus
Serial Parallel I/O
Floppy Teach
Aux
Pend.
Unimation Controller CRT
C
CPU RAM ROM DLV-11J Parallel I/O
LSI-11
Qbus
CLOCK DRV-11
SERVO Digital Analog Power
INTERFACE Servo Servo AMP.
current
Arm C bl
A Cable
encoder
pulses
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
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.
– H d
Hardware: PC + Trident TRC 004/006 b
T id t boards.
d
– Software: RCCL ported to rtlinux.
Position control is added to RCCL.
RCCL
98

99. RWRCCL (TRC Boards)
Host PC/Linux ISA bus
TRC004 board
Unimation Controller
U i ti C t ll
TRC006 Board
Power amplifier
Arm Cable
PUMA ARM
99

100. Hardware Architecture of RWRCCL
100

101. Software A hit t
S ft Architecture of RWRCCL
f
101

102. Graphic Simulator of RWRCCL
102

103. QRobot
• A multitasking QNX/PC b
ltit ki QNX/PC-based robot control system.
d b t t l t
• 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
U i ti C t ll
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

106. Structure of ARCL
106

107. End of Part 2
107

108. Porting and Running the RCCL
on a R l ti
Real-time Li
Linux/PC
/PC
2005
Gyoung H. Kim, Ph.D
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.
Linux
• Porting RWRCCL to Linux/RTAI.
g
109

110. Test Environment
• RCCL: v1.0 (1983)
• Simderella: v2.0.2 (1995)
• gcc: 2 9 x 3 0 4 3 2
2.9.x, 3.0.4, 3.2
• Linux distribution:
- Redhat 7.3, Redhat 8.0
- D bi woody, Debian sarge
Debian d D bi
• 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:
y
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.
- Si
Signal h dl calls setpoint_n().
l handler ll t i t ()
3. REAL mode (hardware interrupt)
- At every 28ms, a hardware interrupt signal is generated from
the Unimation controller.
- Interrupt service routine calls setpoint n().
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
, p g g
(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
option, -lbsd.
113

114. Running RCCL on Linux
g
(SYSV mode with libc6)
(1) Ch
Change f from BSD stuffs t SYSV
t ff to
- 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 ( ).
( ) ot e o o
(4) Do the following minor modifications:
g o od cat o s
- Add print.c for more printouts.
- Add printst( ) to jnsend_n( ) of misc.c
- Create linux directory for examples
examples.
- Move main.c from src to linux directory.
- Adjust the delay parameter of usleep( ).
- Add FAKE_DEBUG for better debugging
FAKE DEBUG debugging.
114

115. Simderella
(A general-purpose robot simulator for kinematics)
Current joint angles
Simderella
connel
(robot controller)
Desired joint angles,
velocities, accelerations
simmel
(f
(forward kinematics calculator)
d ki ti l l t )
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.
1 Modify connel/main.c so that desired joint angles are from j6,
connel/main c j6
a global variable of RCCL.
2. Combine the main.c of RCCL and the main.c of connel. After
setpoint_n( )
setpoint n( ), call user_move_robot( ) at each clock signal
user move robot( signal.
3. Modify user_move_robot( ) and move_robot( )
of connel/moving.c to bypass some dynamics and kinematics
calculations.
4. Adjust D-H parameters of PUMA arms.
5. Link RCCL libraries when compiling connel/main.c.
p g
6. Run Simderella.
116

117. Screenshot of RCCL + Simderella
• g p
Right window: connel’s window printing out joint angles
g j g
from a RCCL program.
• Left window: bemmel’s window drawing a PUMA arm with
the joint angles.
117

118. RCCL + Simderella (off-line)
(off-
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.
4 Compile connel/main c
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.
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.
-R i d f
Receive commands from User command monitor
U d it
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
), 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:
Distribution CPU-specific
(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
m586
122

123. RTAI Running Procedure
1.
1 Install t i
I t ll rtai modules
d l
modprobe rtai
modprobe rtai_sched
modprobe rtai_fifos
modprobe rtai_shm
modprobe rtai_libm
2. Install the RCCL realtiime module
insmod rccl.o
3. Start the “user command monitor” as
./rccl_app
4. Type s/q/b/r keys at the prompt of “rccl_app” to
start/quit/break/resume realtime RCCL tasks.
q
5. 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
p
communication of Simderella.
• RCCL on RTAI
– Clock rate 50Hz (20ms) works without any p
( ) y 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.
t ll t t l k d ift
124

125. RWRCCL on Linux/RTAI
125

126. Analysis Results of RWRCCL
• Routines are fully documented
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
3.3
- glibc 2.3.2
• RTLinux:
- rtlinux-3.2-rc1
- kernel 2.4.27
• Patches
(1) gcc-dependent: newline in a literal string
gcc dependent: 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
(pos t o control ode,
(position co t o mode, PID control)
co t o )
• Simulation mode needs a slower sampling
rate due to the slow X11 graphics.
• Dry running mode in real-time is added
Dry-running real time added.
128

129. Porting RWRCCL to RTAI
• 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)
rtai lxrt h)
129

130. Ongoing Projects
• Modifying RCCL for running various arms.
• Porting RCCL v1 0 to Xenomai
v1.0 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 f P t
E d of Part 3
131