A multiprocessor system for real-time robotic control

SIERA (System for Implementing and Evaluating Robotic Algorithms) is a multiprocessor system that has been developed at the Laboratory for Engineering Man/Machine Systems (LEMS) at Brown University. It incorporates a tightly coupled bus-based system (the Real Time Servo System, or RTSS) and a loosely coupled link-oriented network (the Armstrong Multiprocessor System). SIERA is capable of controlling many types of commercially available robots because the modular construction of its hardware and software has minimized robot dependences. Support routines have been created to yield a powerful robotic algorithm development system. This includes a custom real-time operating system for the RTSS and special processes for the Armstrong system. These facilities allow a researcher to interactively modify or replace any algorithm related to the operation of the robot. A compliant control example is used to illustrate SIERA's capabilities. The algorithm presented in this example may be applied to unconstrained motion as well as compliant motion and is the topic of further research.