Accession Number : ADA195929

Title :   A Standard Architecture for Controlling Robots.

Descriptive Note : Memorandum rept.,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s) : Narasimhan, Sundar ; Siegel, David M ; Hollerbach, John M

PDF Url : ADA195929

Report Date : Jul 1988

Pagination or Media Count : 25

Abstract : This paper describes a fully implemented computational architecture that controls the Utah-MIT dextrous hand and other complex robots. Robots like the Utah-MIT hand are characterized by large numbers of actuators and sensors, and require high servo rates. Consequently, powerful and flexible computer architectures are needed to control them. The robotic architecture described in this paper derives its power from the highly efficient real-time environment provided for its control processors, coupled with a development host that enables flexible program development. By mapping the memory of a dedicated group of processors into the address space of a host computer, efficient sharing of system resources between them is possible. The software is characterized by a few simple design concepts but provides the facilities out of which more powerful utilities like a multi-processor pseudo-terminal emulator, a transparent and fast file server, and a flexible symbolic debugger could be constructed. Keywords: Condor software. (KR)

Descriptors :   *COMPUTATIONS, *COMPUTER ARCHITECTURE, *ROBOTS, ACTUATORS, ADDRESSING, ARCHITECTURE, COMPUTER PROGRAMS, DETECTORS, EFFICIENCY, HANDS, HIGH RATE, REAL TIME, RESOURCES, ROBOTICS, SERVOMECHANISMS, SHARING

Subject Categories : Computer Hardware

Distribution Statement : APPROVED FOR PUBLIC RELEASE