Transputers at Work: Real-Time Distributed Robot Control
Loading...
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
Degree type
Discipline
Subject
GRASP
Kodlab
Electrical and Computer Engineering
Engineering
Systems Engineering
Kodlab
Electrical and Computer Engineering
Engineering
Systems Engineering
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Whitcomb, Louis L.
Contributor
Abstract
An advanced robot control system joining a GMF A-500 industrial arm with a network of Inmos Transputers is described in the context of the developing field of robotics. The robot system is used to experimentally compare conventional linear control algorithm performance with both the advanced “computer torque” inverse dynamics control algorithm and a recently developed “adaptive computed torque” algorithm.
Advisor
Date of presentation
1990-10-01
Conference name
Departmental Papers (ESE)
Conference dates
2023-05-17T09:04:20.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Comments
Accepted for Proceedings of the 1990 North American Transputer Users Group Meeting, October 1990. NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
Recommended citation
@inproceedings{whitcomb-tra-1990, title = {Transputers at Work: Real-Time Distributed Robot Control}, author = {L.L. Whitcomb and D.E. Koditschek}, editor ={D. L. Fielding"} booktitle = {Transputer Research and Applications 4}, year = {1990}, month = {October}, pages = {107-118}, }