CHIMERA: a real-time programming environment for manipulator control

Author

Schmitz, Donald ; Khosla, Pradeep ; Hoffman, Regis ; Kanade, Takeo

Author_Institution

Carnegie-Mellon Univ., Pittsburgh, PA, USA

fYear

1989

Firstpage

846

Abstract

CHIMERA is a real-time computing environment used in the Reconfigurable Modular Manipulator System project. CHIMERA, which is both a hardware and software environment, allows rapid development and implementation of real-time control programs. It provides a C/Unix-flavored concurrent programming environment for a Motorola 68020 multiprocessor hardware configuration connected to a Sun workstation. CHIMERA has been implemented using commercial hardware in conjunction with a sophisticated, locally developed software package, resulting in a reliable, reasonably priced, and easily duplicated system. CHIMERA is currently being ported for real-time control of the CMU Direct Drive Arm II. The authors describe the implementation and capabilities of the CHIMERA environment and illustrate how these features are used in robot control applications

Keywords

C language; Unix; multiprocessing systems; programming environments; real-time systems; robots; software packages; C; CHIMERA; CMU Direct Drive Arm II; Motorola 68020 multiprocessor hardware configuration; Reconfigurable Modular Manipulator System project; Sun workstation; Unix; concurrency; hardware environment; manipulator control; real-time programming environment; software environment; software package; Computer architecture; Computer science; Hardware; High performance computing; Manipulator dynamics; Programming environments; Real time systems; Robots; Sun; Workstations;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Conference_Location

Scottsdale, AZ

Print_ISBN

0-8186-1938-4

Type

conf

DOI

10.1109/ROBOT.1989.100088

Filename

100088