Preliminary Experiments in Robot Juggling: Transputer Based Real-Time Motion Control

In a continuing program of research in robotic control of intermittent dynamical tasks, we have constructed a three degree of freedom robot capable of “juggling” a ball freely in the earth’s gravitational field. This work is a direct extension of that previously reported in [5, 1, 4, 3, 2, 7].

The system consists of four major sections, all of which have been implemented on a network of twelve transputers.