Parallel fault-tolerant robot control

Deirdre L. Hamilton, John K. Bennett, Ian D. Walker, Jon D. Erickson
1992 Cooperative Intelligent Robotics in Space III  
Most robot controllers today e m p l o y a single processor architecture. As robot control requirements become more complex, these serial controllers have di culty p r o viding the desired response time. Additionally, with robots being used in environments that are hazardous or inaccessible to humans, fault-tolerant robotic systems are particularly desirable. A uniprocessor control architecture cannot o er tolerance of processor faults. Use of multiple processors for robot control o ers two a d
more » ... v antages over single processor systems. Parallel control provides a faster response, which in turn allows a ner granularity o f c o n trol. Processor fault tolerance is also made possible by the existence of multiple processors. There is a trade-o between performance and the level of fault tolerance provided. This paper describes a shared memory multiprocessor robot controller that is capable of providing high performance and processor fault tolerance. We e v aluate the performance of this controller, and demonstrate how performance and processor fault tolerance can be balanced in a cost-e ective manner.
doi:10.1117/12.131703 fatcat:dvk3omovgvbfjfq456olehwsty