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Proceedings Paper

A Synchronized Computational Architecture For Generalized Bilateral Control Of Robot Arms
Author(s): Antal K. Bejczy; Zoltan Szakaly
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Paper Abstract

This paper describes a computational architecture for an interconnected high speed distributed computing system for generalized bilateral control of robot arms. The key method of the architecture is the use of fully synchronized, interrupt driven software. Since an objective of the development is to utilize the processing resources efficiently, the synchronization is done in the hardware level to reduce system software overhead. The architecture also achieves a balanced load on the communication channel. The paper also describes some architectural relations to trading or sharing manual and automatic control.

Paper Details

Date Published: 31 October 1987
PDF: 12 pages
Proc. SPIE 0851, Space Station Automation III, (31 October 1987); doi: 10.1117/12.942924
Show Author Affiliations
Antal K. Bejczy, California Institute of Technology (United States)
Zoltan Szakaly, California Institute of Technology (United States)

Published in SPIE Proceedings Vol. 0851:
Space Station Automation III
Wun C. Chiou Sr., Editor(s)

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