Transputers at Work: Real-Time Distributed Robot Control
General Robotics, Automation, Sensing and Perception Laboratory
Electrical and Computer Engineering
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.