The Condor Programmer's Manual - Version II

Abstract

This is the CONDOR programmer's manual, that describes the hardware and software that form the basis of the real-time computational architecture built originally for the Utah-MIT hand. The architecture has been used successfully to control the hand and the MIT-Serial Link Direct Drive Arm in the past. A number of such systems are being built to address the computational needs of other robotics research efforts in and around the lab. This manual, which is intended primarily for programmers/users of the CONDOR system, represents our effort at documenting the system so that it can be a generally useful research tool.