Open Access
Microprocessor architecture for advanced robot control
T. Turner,J. Craig,W.A. Gruver +2 more
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TLDR
A new, distributed processing architecture using three microcomputers in a pipeline configuration is proposed for the efficient execution of a broad class of advanced manipulator control algorithms that will facilitate the implementation of advanced control strategies in industrial robots at a competitive cost.Abstract:
Summary form only given. A new, distributed processing architecture using three microcomputers in a pipeline configuration is proposed for the efficient execution of a broad class of advanced manipulator control algorithms. This design will facilitate the implementation of advanced control strategies in industrial robots at a competitive cost. A simple example illustrates the advantages of the pipeline architecture over existing solutions.read more
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Journal ArticleDOI
Parallelism in Manipulator Dynamics
TL;DR: This paper addresses the problem of efficiently computing the motor torques required to drive a manipulator arm in free motion, given the desired trajectory—that is the inverse dynamics problem and presents two "mathemati cally exact "formulations especially suited to high-speed, highly parallel implementations using VLSI devices.
Journal ArticleDOI
Integrated Architecture for Industrial Robot Programming and Control
Klas Nilsson,Rolf Johansson +1 more
TL;DR: Bearing in mind such industrial demands as computing efficiency and simple factory-floor operation, the control layers are parameterized by means of functional operators consisting of pieces of compiled code that can be passed as parameters between the layers.
Dissertation
Industrial Robot Programming
TL;DR: Considering industrial demands, such as computing efficiency and simple factory-floor operation, a layered system architecture and technical solutions to accomplish it are proposed, and a notion of user views is introduced as the basis for definition of the layers; the layers support programming on levels ranging from implementation of motor control and up to end-user programming.
Design and implementation of a robot force and motion server
TL;DR: A modified hybrid control method for manipulator compliance is proposed and implemented and overcomes the problems existing in previous approaches such as stiffness control and hybrid control.
Proceedings ArticleDOI
Implementation Of Real-time Control Schemes On A Parallel Processing Architecture Using Transputers
G. Yasuda,K. Tachibana +1 more
TL;DR: An experimental study of implementation and performance evaluation of hardware and software structures on a parallel processing architecture using Inmos transputers based on the requirements of real-time control for large-scale aiid complex systems.