This paper proposes a Dual Controller System for Precision Control (DCSPC) for control of the gripper. The DCSPC consists of two subsystems, CDSP (Controller based DSP) and CARM (Controller based ARM processor). The CDSP is developed on a DSP processor and controls the gripping motor and LVDT. In particular, the CARM is implemented using Linux and ARM processor according to recent research related to open-source. The robot for high-precision assembly is divided into the robot control and the gripper control section and controls CARM and CDSP systems respectively. In this paper, we also proposed and measured the performance of communication API. As a result, it is expected to recognize improvements in communication between CARM and the robot controller, and will continue to conduct relevant research among other commercial robot controllers.

Abstract
 1. 서 론
 2. 연구 배경
 3. 이중 제어기 시스템
  3.1 CDSP 하드웨어 설계
  3.2 CDSP 및 CARM 소프트웨어 설계
  3.3 외부 통신 인터페이스 설계
 4. 실험환경 및 성능평가
  4.1 CARM 실시간 성능 평가
  4.2 CDSP 및 CARM 통신 시간 성능 평가
  4.3 CARM 및 외부 로봇 제어기 통신 시간 성능 평가
  4.4 DCSPC 시스템 오버헤드 성능 평가
 5. 결 론
 Reference

• 이승용(Computer Engineering, KETI) | Seung-Yong Lee
• 함운형(Computer Engineering, KETI) | Un-Hyong Ham
• 박영우(Computer Engineering, KETI) | Young-Woo Park
• 정일균(Computer Engineering, KETI) | Il-Kyun Jung
• 임선(Electricity and Electronic Engineering, KETI) | Sun Lim Corresponding author