Software teach pendant for RHINO XR-2 robot

Abstract

This thesis describes a development of software teach pendant for RHINO robot manipulator using a common ASCII terminal. This system integrates teaching and programming by providing two modes of operation ; TEACH and PROGRAM. In the TEACH mode, users are allowed to teach robot a series of moves using commands entered directly from the terminal keyboard which simulates the hand-held teach pendant. Learned tasks can be modified, executed, and stored in the host computer files. In the PROGRAM mode, user-generated manipulator programs that are the very "C" programs are compiled and exectued. World representation necessary to describe a manipulator task is provided by a combination of definition and teaching. For ergonomic reasons, a simple keyboard layout is displayed, with visual feedback for each user action, on the terminal screen. The system has been implemented in "C" language on the VAX 11/780 running under UNIX(BSD 4.2) operating system.