Basic information about the robot controller LOLA RC3:

  1. Actuators control of the robotic system is implemented on a modular computer with a processor Motorola 68060. Robotic language compiler is implemented on a PC.
  2. Path planning and inverse kinematic problems solving are implemented in real time. As a result, it enables the programming of long distances trajectories and correction of the programmed path points during the motion.
  3. The programming language L-ILR , for multi-robots operations, is integrated in the robot controller, and it has the following features:
      • It belongs to the class of high level programming languages.
      • It posses the structureness and modularity, for simpler programming of complex robotic operations
      • Language contains all general program structures needed in programming robots, particularly for working with data, expressions, procedures, functions, program cycle control.
      • It posses structures for communication with the environment, through the input and output signals which transmit analog, digital and binary information.
      • There is a connection with the sensors, which can be added to a robotic system according to the needs of specific applications.
      • Language allows the realization of parallel tasks with the possibility of using inter-process synchronization event.
      • Language contains specific robotic structures, such as geometric data types, geometric terms and expressions for specifying motion of the robot. Geometric data types and expressions allow to describe the position of robots and objects. Statements of movement allow programming of robot trajectory paths.
      • Robot motion can be: point to point and moving through mathematical defined paths in space. Mathematically defined paths by which it is possible to assign the robot movement are lines and circles.
      • Connecting two noncollinear straight-line motions can be made with approximate CP movement on the parabola.
      • Approximate PTP movements are used to connect multiple PTP, PTP and CP movement and vice versa.
  4. It is possible to set path, velocity, acceleration, change of orientation of robot tool, smoothing the path and speed, and other characteristics.
  5. Connection of a programming language L-ILR with a system for on-line robot programming is implemented in the system. This allows adjustment of programmed robot path when tested in real conditions.
  6. System for off-line robot programming, implemented on a PC, allows displaying the planned trajectory paths of the end-effector and the robots joints as well as diagrams of their speed and acceleration.
  7. It posses the ability to easily add data acquisition and monitoring system in the robot controller environment.
  8. Robot controller is designed for control of individual robots and automated lines with several robots and machines, with or without engine power.