Real-Time Multiprocessor Controller for Robot with Vision System

Abstract Design ideas for a real-time control system for a robot provided with a vision system are presented in this work. Functional aspects of the controller are discussed and solution of the particular problems associated is given. A partly model based solution for the system inertia matrix evaluation and an inertially decoupled sliding mode control algorithm are presented. A hardware structure of the real-time multiprocessing control system is proposed and justified