Microprocessor architecture for advanced robot control
T. Turner, John Craig, W.A. Gruver · OSTI OAI (U.S. Department of Energy Office of Scientific and Technical Information) · 1982
Summary form only given. A new, distributed processing architecture using three microcomputers in a pipeline configuration is proposed for the efficient execution of a broad class of advanced manipulator control algorithms. This design will facilitate the implementation of advanced control strategies in industrial robots at a competitive cost. A simple example illustrates the advantages of the pipeline architecture over existing solutions.