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Integrating Software Modules For Robot ControlReconfigurable, sensor-based control system uses state variables in systematic integration of reusable control modules. Designed for open-architecture hardware including many general-purpose microprocessors, each having own local memory plus access to global shared memory. Implemented in software as extension of Chimera II real-time operating system. Provides transparent computing mechanism for intertask communication between control modules and generic process-module architecture for multiprocessor realtime computation. Used to control robot arm. Proves useful in variety of other control and robotic applications.
Document ID
19930000682
Document Type
Other - NASA Tech Brief
Authors
Volpe, Richard A. (Caltech)
Khosla, Pradeep (Carnegie-Mellon Univ.)
Stewart, David B. (Carnegie-Mellon Univ.)
Date Acquired
August 16, 2013
Publication Date
October 1, 1993
Publication Information
Publication: NASA Tech Briefs
Volume: 17
Issue: 10
ISSN: 0145-319X
Subject Category
MATHEMATICS AND INFORMATION SCIENCES
Report/Patent Number
NPO-18773
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.