By Topic

Systems design for robot control with a scalar supercomputer

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Andersson, R.L. ; AT&T Bell Lab., Holmdel, NJ, USA

A system design is described for robotics research, including rapid program development and concurrent and post execution analysis. The system design supports robotic systems controlling 24 or more joints at a 1-kHz servo rate, suitable for controlling ensembles of advanced arms or hands. The system performs trajectory generation, kinematics, dynamics, force control, and advanced servo algorithms at the servo rate. The JIFFE robotics processor provides the computational power, performing 20 MFlops on robot control algorithms written in C. A sophisticated semiautonomous interface card for eight joints, designed to minimize system latency, is also described. A multiprocessor PUMA controller was ported onto this architecture. The reduced code requirements and the performance, featuring a 56-μs sensor/actuator latency, are described

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990