A Synchronized Computational Architecture For Generalized Bilateral Control Of Robot Arms

13 October 1987

conference paper
Published by SPIE-Intl Soc Optical Eng

Vol. 851, 123-134
https://doi.org/10.1117/12.942924

Abstract

This paper describes a computational architecture for an interconnected high speed distributed computing system for generalized bilateral control of robot arms. The key method of the architecture is the use of fully synchronized, interrupt driven software. Since an objective of the development is to utilize the processing resources efficiently, the synchronization is done in the hardware level to reduce system software overhead. The architecture also achieves a balanced load on the communication channel. The paper also describes some architectural relations to trading or sharing manual and automatic control.© (1987) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

Keywords

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