Requirements for implementing real-time control functional modules on a hierarchical parallel pipelined system

Author: Lumia, Ronald
Published: Jan 31, 1989.
Physical Description: 1 electronic document
Additional Creators: Michaloski, John L. and Wheatley, Thomas E.

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Summary

Analysis of a robot control system leads to a broad range of processing requirements. One fundamental requirement of a robot control system is the necessity of a microcomputer system in order to provide sufficient processing capability.The use of multiple processors in a parallel architecture is beneficial for a number of reasons, including better cost performance, modular growth, increased reliability through replication, and flexibility for testing alternate control strategies via different partitioning. A survey of the progression from low level control synchronizing primitives to higher level communication tools is presented. The system communication and control mechanisms of existing robot control systems are compared to the hierarchical control model. The impact of this design methodology on the current robot control systems is explored.

Other Subject(s)

CYBERNETICS

Collection

NASA Technical Reports Server (NTRS) Collection.

Note

Document ID: 19900020575.
Accession ID: 90N29891.
JPL, California Inst. of Tech., Proceedings of the NASA Conference on Space Telerobotics, Volume 5; p 163-172.

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