Software Application of Control and Compensation for EAST Articulated Maintenance Arm

EAMA (EAST Articulated Maintenance Arm) is an articulated serial robot work in an experimental advanced superconductor tokamak. A sort of challenges occurred for joint error and sensor data fusion in position control. The aim of this work indicates the error compensation software application principle. The open architecture, the layers, the communication models, the user interfaces and the real-time operate system with the supervision slave communication and data transmission are analyzed and integrated.