Programming Compliant Robot Motions In A Concurrent High-Level Language
Ronny M. Blomme · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1990
Robot control applications generally can be considered as a collection of real-time tasks executed in parallel. That's why multiprocessor machines seem to provide an efficient solution to the requirements of current robot control systems. Concurrent high-level languages used in such environments must contain primitives for parallel processes, synchronization, interrupt handlers, etc. We show how these concepts can be used in sensor controlled robot motions, in particular how asynchronous processes can be used in the implementation of compliant motion.