Transputer control of a Puma 560 robot via the virtual bus
作者:
R.W.Daniel,
P.M.Sharkey,
期刊:
IEE Proceedings D (Control Theory and Applications)
(IET Available online 1990)
卷期:
Volume 137,
issue 4
页码: 245-252
年代: 1990
DOI:10.1049/ip-d.1990.0030
出版商: IEE
数据来源: IET
摘要:
The 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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