Research of Welding Robot Controlled by PMAC and ARM Two Processors

Abstract

Using the Delta Tau’s PMAC (Programmable Multi-Axis Controller) as the kernel of control, which can carry out all sorts of algorithm in welding robot. Using Philips’ ARM (Advance RISC Machines) as the kernel of peripheral interface, so it can communicate with PMAC by RS-232C, it can communicate with laser seam tracking system by another RS-232C, it can communicate with robot manipulator by CAN-bus, it can communicate with welding machine by Ethernet, and it can communicate with host PC by USB.  Using µC/OS-II as operating system in this ARM-based processor, which makes customer’s software Real-time and robust.