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- W206457077 abstract "This manual explains the software of the Robot Force and Motion Server (RFMS), a high performance robot control system designed and implemented in the GRASP laboratory. In this system, the robot manipulator is considered a force/motion server to the robot and a user application is treated as a request for the service of the manipulator. The user application is created on one of the Unix/VAX machines in 'C' programming language as a set of function calls. The application is carried out in a multi-processor controller, which consists of Intel single board computers and provides computing power necessary for computationally intensive tasks. The VAX machine and the Intel controller communicate through Ethernet, a local area network, which also allows interaction between the user and sensors. Design principles of the system can be found in Section 2. Comments University of Pennsylvania Department of Computer and Information Science Technical Report No. MSCIS-88-01. This technical report is available at ScholarlyCommons: http://repository.upenn.edu/cis_reports/632 RFMS SOFTWARE REFERENCE MANUAL Hong Zhang MS-CIS-88-01 GRASP LAB 130 Department of Computer and Information Science School of Engineering and Applied Science University of Pennsylvania Philadelphia, PA 191 04-6389" @default.
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- W206457077 date "1988-01-01" @default.
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- W206457077 title "RFMS Software Reference Manual" @default.
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