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Distributed real-time control of a spatial robot juggler

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3 Author(s)
Rizzi, A.A. ; Yale Univ., New Haven, CT, USA ; Whitcomb, L.L. ; Koditschek, D.E.

The Yale spatial juggler and an emerging set of working principles for the design and implementation of embedded real-time distributed controllers are described. The robot uses a distributed network of transputers to process stereo camera data and control the torque of a three-degree-of-freedom arm to juggle a ball. The juggling algorithm is a direct extension of a novel class of nonlinear feedback controllers, called mirror laws. The algorithm takes the form of a mathematical expression that specifies robot position as a function of the ball's position and velocity. The programming approach, called geometric programming, substitutes event-driven dynamical processes and geometrical transformations for a more syntactically oriented if-then-else approach.<>

Published in:

Computer  (Volume:25 ,  Issue: 5 )

Date of Publication:

May 1992

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