Multiprocessing control of robotic systems
Fazel Naghdy, C.K. Wai, Golshah A. Naghdy · 2003
An approach is described for design and development of robotic system controllers. The technique, referred to as multiprocessing control, can provide more expansibility, flexibility, and portability in a robotic system than conventional multiprocessor methods. The control algorithms for a Mitsubishi robot are implemented as a multiprocessing system on a VME-bus-based computer running the PDOS operating system. The control software is written entirely in a real-time C and consists of concurrent tasks synchronized with events, semaphores, and messages. A proposal for implementing the technique as a hardware-independent software on the Inmos Transputer is given.>