A new distributed real-time controller for robotics applications

Thumbnail Image
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Degree type
Grant number
Copyright date
Related resources
Buehler, Martin
Whitcomb, Louis L
Koditschek, Daniel E

A description is given of a dual-board real-time distributed control module based on the INMOS T414/T800 transputers. The CPU board provides fast external memory, support for the four 10-MHz serial transputer links including two fiber-optic links, and an I/O expansion connector. The board's backplane connector is pin-compatible with the INMOS ITEM development system. The plug-in I/O board provides a bidirectional latched 32-bit I/O bus with full handshaking support. Half of this board is allotted to a wire-wrap prototyping area allowing for customization to specific I/O needs. It is asserted that an easily configurable network built from this low-cost modular design should be able to tackle the most demanding real-time control applications, with respect to computation as well as I/O requirements. A description is given of two particular applications presently underway in the Yale Robotics Laboratory.

Date of presentation
Conference name
Departmental Papers (ESE)
Conference dates
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 DOI
Journal Issue
Copyright 1989 IEEE. Reprinted from <em>Proceedings of the Thirty-Fourth IEEE Computer Society International Conference: Intellectual Leverage, Digest of Papers. COMPCON Spring '89</em>, pages 63-69. <br><br> This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. <br><br>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