A low level robot interface: the high speed host interface

摘要

This paper describes the High Speed Host Interface (HSHI) developed jointly by the Robot Systems Division at the National Bureau of Standards and the American Robot Corporation (AR). The High Speed Host Interface provides an interface between .American Robot's software and hardware and the user's software at the lowest level of control-joint position, joint velocity, motor posi- tion, or motor velocity. It can operate at an update rate of 256 times per second or can be used at a cartesian level of control at an .update rate of 7.5 times per sefcond. The paper discusses the design of HSHI and its capabilities as well as some possible applications for such a system".