A Fault-Tolerant Transputer-based Parallel Controller for the Soft Arm Robot
نویسندگان
چکیده
This paper describes a transputer-based parallel controller that was developed in the Center for Intelligent Systems at Vanderbilt University to control the Soft Arm robot. The Soft Arm robot is used in a robotic aid system, called ISAC, for the physically challenged. The controller uses a network of T800 transputers as the parallel processing nodes. The controller is composed of a master node, a fuzzy node and joint nodes. The master node contains the kinematic model of the Soft Arm robot and the joint nodes contain the control algorithm for each joint. A fuzzy processor is connected to the master node to act as a supervisor for the lower level joint controllers. The controller hardware can be dynamically reconngured through a programmable link switch, thus allow fault-tolerant operation of the controller.
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