Transputer control of a Puma 560 robot via the virtual busDaniel, R. W. and Sharkey, P. (1990) Transputer control of a Puma 560 robot via the virtual bus. IEE Proceedings D: Control Theory and Applications, 137 (4). pp. 245-252. ISSN 0143-7054 Full text not archived in this repository. It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing. Abstract/SummaryThe robot control problem is discussed with regard to controller implementation on a multitransputer array. Some high-performance aspects required of such controllers are described, with particular reference to robot force control. The implications for the architecture required for controllers based on computed torque are discussed and an example is described. The idea of treating a transputer array as a virtual bus is put forward for the implementation of fast real-time controllers. An example is given of controlling a Puma 560 industrial robot. Some of the practical considerations for using transputers for such control are described.
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