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Erschienen in:
1990 | OriginalPaper | Buchkapitel
CONDOR: A Computational Architecture for Robots
verfasst von : Sundar Narasimhan, David M. Siegel, John M. Hollerbach
Erschienen in: Dextrous Robot Hands
Verlag: Springer New York
Enthalten in: Professional Book Archive
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This chapter presents an overview of the CONDOR architecture, a fully implemented system that controls the Utah/MIT hand. The architecture is especially suited for complex robots that are characterized by a number of joints and consequently demand powerful computer architectures to be controlled and utilized effectively. Using the CONDOR as a representative example, this chapter attempts to introduce the hardware and software issues that are relevant to the design of real-time control systems for robot hands.