Comau open control (fwd)

This is another forwarded discussion (with agreement of the sender).
I also added my reply.

Herman
---------- Forwarded message ----------
Date: Fri, 24 Aug 2001 10:22:16 +0200
From: "Visser,Martijn" <[email protected]>
To: "'[email protected]'"
    <[email protected]>
Subject: Comau open control

Dear Mr. Bruyninckx,

First let me introduce myself: I am a control engineer and work at Fokker
Space on robotics related projects like ERA (= European Robotic Arm) and
VLTDL (= Very Large Telescope Delay Lines). Next to my regular work I am
working on a PhD research on the control of multiple robots that have to
cooperate and interact with eachother and with the environment, like the
fingers of a robothand and the two arms of a two-arm robot. Application is a
robot that can assist or replace cosmonauts in extravehicular activity. My
co-promotor is Stefano Stramigioli who you know well.

In our robotics laboratory we have a Comau Smart S2 robot with the C3G open
controller with PCC3 link. I want to use this C3G open controller running in
the 1 kHz current setpoint mode to test some of my controllers. The open C3G
controller is now connected with a PCC3 link to a PCAT running DOS, but for
a number of reasons the PCAT en OS are no longer sufficient and I would like
to switch to a more powerful PC running RT Linux.

In the Orocos mailinglist archives I read your discussion about the "COMAU
open control" and would like to ask the following questions: do you also
have a Comau robot with the open controller? If so what computer running
what OS do you use? And if not do you know of any other laboratories that
do?

Yours,
Martijn Visser

Ir. Martijn Visser
Fokker Space BV
Control Engineering
Advanced Systems & Engineering
phone +31(0)715245119
fax +31(0)715245499
email [email protected]

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