Abstract
This paper presents a new concept of a Robotics Training Station (RTS) based on a parallel reconfigurable computer architecture. The system consists of an advanced host computer running under the real-time kernel (AMX), and 4 transputers each supporting 4 high-speed serial links which are used for interprocessor communication. Preprocessor and on-line software make the system very flexible for education, training and research purposes. The preprocessor generates highly optimized symbolic robot models and control laws. The generated programs are then compiled and linked together with other programs of the on-line software. The on-line programs are automatically scheduled onto the parallel transputer network. This allows submilisecond computational time which are enough small even for the high-speed direct drive robots.
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© 1993 Springer-Verlag London Limited
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Vukobratovié, M., Kirćanski, N., Lekovié, D., Petrovié, T. (1993). Robotics training station — A new application area in robotics. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) RoManSy 9. Lecture Notes in Control and Information Sciences, vol 187. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0031464
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DOI: https://doi.org/10.1007/BFb0031464
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