Multiprocessor Control of a Telemanipulator with Optical Proximity Sensors

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Abstract
The complexity of robotic systems usually necessitates the use of digital computers in their control. When a sensory- feedback control loop is closed around a robot and its com puter system, the real-time flow of data through the computer strongly influences the fidelity of the resultant motion. The purpose of this paper is to identify characteristics of the com puter controller that have the greatest impact on the perform ance of the system and to show, by means of an example, how the performance may be enhanced through the use of digital control techniques.

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