Transputers for robotic control

摘要

The functions of a robot controller can consist of planning,norganisation, coordination and decision making at the top of controlnhierarchy and, joint angle control at the bottom end. The computationalnneeds for processing of the external data and implementation of complexncontrol strategies for tasks involving precision path following at highnspeeds, high band-width compliance and adaptive control, are quitenintensive. Partition of the computational tasks between variousnindependent processors, which can operate in parallel and communicatenwith each other when necessary, can help alleviate the burden and allownreal-time implementation of a desired control algorithm. The Transputer,nbeing general purpose, capable of high speed processing with extensivencapabilities is a relatively low cost processor which suitably fulfilsnthe robot control computational requirements stated above