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# Preliminary Experiments in Real Time Distributed Robot Control

#### *Proceedings of the 1988 North American Transputer Users Group Meeting*, October 1988

Louis L. Whitcomb*, Martin Buehler*, Daniel E. Koditschek†

*: Yale University

†: University of Pennsylvania

Full PDF | Penn Scholarly Commons

Abstract |

We investigate the computational needs of advanced real-time robot control. First, sampling rate issues in the control of nonlinear systems are discussed. Second, a representative nonlinear robot control algorithm using an explicit robot dynamical model is derived. Some typical terms of the exact equations are given for two industrial robot arms. Third, we define some performance criteria of interest in real-time control. Finally, we compare a variety of implementations of the above control algorithm on a network of INMOS Transputers. |

BibTeX entry |

@inproceedings{whitcomb-conference-1988,
author = {Louis L. Whitcomb and Martin Buehler et al},
title = {Preliminary Experiments in Real Time Distributed Robot Control},
booktitle = {Proceedings of the 1988 North American Transputer Users Group Meeting},
year = {1988},
location = {New York, New York},
month = {October},
} |