Abstract
The techniques of automatic control today are in a state of change towards the application of advanced control methods, well known from theory but up to now not applied by reasons of their expenditure. The appearance of the 16-bit microcomputers facilitate the application of modern control theory to multi-variable systems. Industrial robots are multi-variable systems with very high requirements. After discussing multi-microcomputer systems and some examples of advanced methods of control theory (decoupling, observers, dead-time compensation), this paper presents the necessary functions of industrial robot control and their distribution on a multi-microcomputer system. Functions comprise nonlinear decoupling, direct digital control, path programming and calculation, system supervision.
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