Robot control in a message passing environment: theoretical questions and preliminary experiments

Whitcomb, Louis L.; Koditschek, Dan

doi:10.1109/robot.1990.126160

Cited by 9 publications

(2 citation statements)

References 14 publications

(2 reference statements)

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“…Second, these schemes are statically extensible. Thus, with an appropriate scalable algorithm (such as described in [68,66]), an additional joint could easily be controlled by adding another PE.…”

Section: Kinematics Levelmentioning

confidence: 99%

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Parallel processing approaches in robotics

Henrich¹,

Honiger²

ISIE '97 Proceeding of the IEEE International Symposium on Industrial Electronics

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-This paper presents the different possibilities for parallel processing in robot control architectures. At the beginning, we shortly review the historic development of control architectures. Then, a list of requirements for control architectures is set up from a parallel processing point of view. As our main topic, we identify the levels of parallel processing in robot control architectures. With each level of parallelism, examples for a typical robot control architecture are presented. Finally, a list of keywords is provided for each previous work we refer to.

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Section: Kinematics Levelmentioning

confidence: 99%

“…4). [49] In [66], the control loop is parallelized according to the manipulator joints and according to the functions of the control loop (pipeline principle). Each joint has its own closed loop control and each of them is divided into functions, which are processed on different PEs.…”

Section: Control Levelmentioning

confidence: 99%

Parallel processing approaches in robotics

Henrich¹,

Honiger²

ISIE '97 Proceeding of the IEEE International Symposium on Industrial Electronics

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Preliminary experiments in spatial robot juggling

Koditschek

Experimental Robotics II

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In a continuing program of research in robotic control of intermittent dynamical tasks, we have constructed a three degree of freedom robot capable of juggling a ball falling freely in the earth's gravitational field. This work is a direct extension of that previously reported in [7, 3, 5, 4]. The present paper offers a comprehensive description of the new experimental apparatus and a brief account of the more general kinematic, dynamical, and computational understanding of the previous work that underlie the operation of this new machine.

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Comparative experiments with a new adaptive controller for robot arms

Whitcomb

Rizzi

Koditschek

1993

IEEE Trans. Robot. Automat.

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200

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This paper presents a new model-based adaptive controller and proof of its global asymptotic stability with respect to the standard rigid-body model of robot-arm dynamics. Experimental data from a study of one new and several established globally asymptotically stable adaptive controllers on two very different robot arms 1) demonstrate the superior tracking performance afforded by the model-based algorithms over conventional PD control, 2) demonstrate and compare the superior performance of adaptive model-based algorithms over their nonadaptive counterparts, 3) reconcile several previous contrasting empirical studies, and 4) examine contexts that compromise their advantage. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.

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Robot control in a message passing environment: theoretical questions and preliminary experiments

Abstract: , "Robot control in a message passing environment: theoretical questions and preliminary experiments", . May 1990.

Cited by 9 publications

References 14 publications

Parallel processing approaches in robotics

Parallel processing approaches in robotics

Preliminary experiments in spatial robot juggling

Comparative experiments with a new adaptive controller for robot arms

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