A synchronized computational architecture for generalized bilateral control of robot armsThis paper describes a computational architecture for an interconnected high speed distributed computing system for generalized bilateral control of robot arms. The key method of the architecture is the use of fully synchronized, interrupt driven software. Since an objective of the development is to utilize the processing resources efficiently, the synchronization is done in the hardware level to reduce system software overhead. The architecture also achieves a balaced load on the communication channel. The paper also describes some architectural relations to trading or sharing manual and automatic control.
Document ID
19890024448
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Bejczy, Antal K. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Szakaly, Zoltan (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)