A Synchronized Computational Architecture For Generalized Bilateral Control Of Robot Arms

Antal K. Bejczy; Zoltan Szakaly

doi:10.1117/12.942924

31 October 1987 A Synchronized Computational Architecture For Generalized Bilateral Control Of Robot Arms

Antal K. Bejczy, Zoltan Szakaly

Proceedings Volume 0851, Space Station Automation III; (1987) https://doi.org/10.1117/12.942924
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

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.

Citation Download Citation

Antal K. Bejczy and Zoltan Szakaly "A Synchronized Computational Architecture For Generalized Bilateral Control Of Robot Arms", Proc. SPIE 0851, Space Station Automation III, (31 October 1987); https://doi.org/10.1117/12.942924

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