Transputer based real time robot controlSharkey, P., Daniel, R.W. and Elosegui, P. (1990) Transputer based real time robot control. In: The 29th IEEE Conference on Decision and Control, 5-7 Dec., 1990, Honolulu, HI, USA, pp. 1161-1162, https://doi.org/10.1109/CDC.1990.203785. 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. To link to this item DOI: 10.1109/CDC.1990.203785 Abstract/SummaryA parallel processor architecture based on a communicating sequential processor chip, the transputer, is described. The architecture is easily linearly extensible to enable separate functions to be included in the controller. To demonstrate the power of the resulting controller some experimental results are presented comparing PID and full inverse dynamics on the first three joints of a Puma 560 robot. Also examined are some of the sample rate issues raised by the asynchronous updating of inertial parameters, and the need for full inverse dynamics at every sample interval is questioned.
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