Transputers at Work: Real-Time Distributed Robot Control
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GRASP
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Electrical and Computer Engineering
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Systems Engineering
Kodlab
Electrical and Computer Engineering
Engineering
Systems Engineering
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Abstract
An advanced robot control system joining a GMF A-500 industrial arm with a network of Inmos Transputers is described in the context of the developing field of robotics. The robot system is used to experimentally compare conventional linear control algorithm performance with both the advanced “computer torque” inverse dynamics control algorithm and a recently developed “adaptive computed torque” algorithm.
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1990-10-01
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Departmental Papers (ESE)
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2023-05-17T09:04:20.000
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Accepted for Proceedings of the 1990 North American Transputer Users Group Meeting, October 1990. NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
Recommended citation
@inproceedings{whitcomb-tra-1990, title = {Transputers at Work: Real-Time Distributed Robot Control}, author = {L.L. Whitcomb and D.E. Koditschek}, editor ={D. L. Fielding"} booktitle = {Transputer Research and Applications 4}, year = {1990}, month = {October}, pages = {107-118}, }