A Synchronized Computational Architecture For Generalized Bilateral Control Of Robot Arms

摘要

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.