Distributed General-Purpose Robot Controller

Abstract

In this paper we describe a general-purposerobot controller built at Philips Laboratories. The controller is based on a distributed multi-processor architecture that offers great flexibility and computing strength, and provides a reliable real-time response. The high sampling rate of up to 6KHz for each controlled joint and richness of sensor inputs allow… (More)
DOI: 10.1109/ROBOT.1993.291855

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