Author: Mark Llewellyn Hughes
Publisher:
ISBN:
Category :
Languages : en
Pages :
Book Description
A Dual Processor System for Robotic Control
Author: Mark Llewellyn Hughes
Publisher:
ISBN:
Category :
Languages : en
Pages :
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages :
Book Description
A Multi-processor Controller for Robotic Manipulator Dynamic Control Research
Author: Paul W. Clark
Publisher:
ISBN:
Category :
Languages : en
Pages : 128
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages : 128
Book Description
Microprocessor-based Synchronized Dual-arm Robotic Control
Author: Richard Dennis Beckert
Publisher:
ISBN:
Category : Microprocessors
Languages : en
Pages : 250
Book Description
Publisher:
ISBN:
Category : Microprocessors
Languages : en
Pages : 250
Book Description
Multirobot Systems
Author: Rajiv Mehrotra
Publisher:
ISBN:
Category : Computers
Languages : en
Pages : 148
Book Description
A collection of reprints on coordination of multiple robots with a common workspace, and control strategies in coordinated multiple-robot systems. No index. Acidic paper. Annotation copyright Book News, Inc. Portland, Or.
Publisher:
ISBN:
Category : Computers
Languages : en
Pages : 148
Book Description
A collection of reprints on coordination of multiple robots with a common workspace, and control strategies in coordinated multiple-robot systems. No index. Acidic paper. Annotation copyright Book News, Inc. Portland, Or.
Robot Control Computation in Microprocessor Systems with Multiple Arithmetic Processors
Author: Bo Li
Publisher:
ISBN:
Category : Multiprocessors
Languages : en
Pages : 40
Book Description
Publisher:
ISBN:
Category : Multiprocessors
Languages : en
Pages : 40
Book Description
Development and demonstration of a coordinated control system for dual-arm robots
Author: Kevin Joseph Rackers
Publisher:
ISBN:
Category :
Languages : en
Pages : 466
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages : 466
Book Description
System Architecture for Asynchronous Multi-processor Robotic Control System
Author: Robert D. Steele
Publisher:
ISBN:
Category :
Languages : en
Pages :
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages :
Book Description
Dual-arm Robot Control for Human-robot Collaborative Manipulation
Author: Daniel Kruse
Publisher:
ISBN:
Category :
Languages : en
Pages : 250
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages : 250
Book Description
Highly Parallelized Control Programming Methodologies Using Multicore CPU and FPGA for Highly Dynamic Multi-DoF Mobile Robots, Applied to the MIT Cheetah
Author: Sangok Seok
Publisher:
ISBN:
Category :
Languages : en
Pages : 113
Book Description
This thesis presents highly parallelized control programming methodologies developed for multi-degrees of freedom (DoF) robots capable of highly dynamic movements. In robotic applications that require rapid physical interactions with the environment, it is critical for the robot to achieve a high-frequency synchronization of data processing from a large number of high-bandwidth actuators and sensors. To solve this important problem in robotics, I developed parallelized control programming methodologies that effectively utilize the advantages of modern parallel real-time computing technologies: multicore CPU, the Field Programmable Gate Array (FPGA), and distributed local processors. This approach was implemented in the fast running experiments of the MIT Cheetah. In such a highly dynamic robot, the required control bandwidth is particularly high since the MIT Cheetah's leg actuation system is designed to generate high force (output torque up to 100Nm) with high bandwidth (closed loop bandwidth up to 120Hz) with minimal mechanical impedance for fast locomotive capability. On the integrated control system, a multi-layered architecture is programmed. Inspired by data parallelism, task parallelism, and the pipelining method, more than 50 processes are operated in parallel, and major processes among them are optimized to achieve the maximum throughput.The proposed methodologies enable the high-level control sampling frequency 4 kHz. With this control system platform, I achieved a high-force proprioceptive impedance control [1], and a trot-running up to 6 m/s with a locomotion efficiency rivaling animals [2]..
Publisher:
ISBN:
Category :
Languages : en
Pages : 113
Book Description
This thesis presents highly parallelized control programming methodologies developed for multi-degrees of freedom (DoF) robots capable of highly dynamic movements. In robotic applications that require rapid physical interactions with the environment, it is critical for the robot to achieve a high-frequency synchronization of data processing from a large number of high-bandwidth actuators and sensors. To solve this important problem in robotics, I developed parallelized control programming methodologies that effectively utilize the advantages of modern parallel real-time computing technologies: multicore CPU, the Field Programmable Gate Array (FPGA), and distributed local processors. This approach was implemented in the fast running experiments of the MIT Cheetah. In such a highly dynamic robot, the required control bandwidth is particularly high since the MIT Cheetah's leg actuation system is designed to generate high force (output torque up to 100Nm) with high bandwidth (closed loop bandwidth up to 120Hz) with minimal mechanical impedance for fast locomotive capability. On the integrated control system, a multi-layered architecture is programmed. Inspired by data parallelism, task parallelism, and the pipelining method, more than 50 processes are operated in parallel, and major processes among them are optimized to achieve the maximum throughput.The proposed methodologies enable the high-level control sampling frequency 4 kHz. With this control system platform, I achieved a high-force proprioceptive impedance control [1], and a trot-running up to 6 m/s with a locomotion efficiency rivaling animals [2]..
A Dual Processor System for Interactive Computer Graphics
Author: Gary M. Jablonski
Publisher:
ISBN:
Category :
Languages : en
Pages : 276
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages : 276
Book Description