Real-time control of a multiple-arm system by large-scale multiprocessing

Abstract This paper describes a design of a high performance real-time control system based on multiple processors. The hardware system is based on INMOS tranputers, and the software system is developed using occam and a Transputer Development System. A main topic in this paper is how to expand the commercially available hardware and software for developing a flexible, powerful, and convenient real-time controller. A proposed method is applied for a robotic control system and good performance is examined.

[1]  S. E. Burge,et al.  Analogue I/O strategies for transputers , 1989, Microprocess. Microsystems.

[2]  Kazuhiro Kosuge,et al.  Master-slave manipulator based on virtual internal model following control concept , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[3]  Katsuhisa Furuta,et al.  Parallel implementation of Newton-Euler algorithm with one step ahead prediction , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[4]  Kazuhiro Kosuge,et al.  Control of single-master multi-slave manipulator system using VIM , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[5]  Ltd Corporated Inmos.  Transputer development system , 1988 .

[6]  Alexander Zelinsky,et al.  Interfacing transputer links to external devices , 1990, Microprocess. Microsystems.

[7]  Alan Knowles,et al.  Message passing in a transputer system , 1989, Microprocess. Microsystems.