Evaluation of cost effective transputer architectures for the implementation of the computed torque method for robotic manipulators

The authors address the problem of cost effective architectures for the implementation of the computed torque control method using transputers. They analyse the complexity of the algorithm and as a result compare suitable partitions and their mappings, producing cost effective increases in performance when used to control a model of the Puma 560 robot. Finally, comments are made upon the effect of the inevitable discrepancies between the manipulator and the control model on the choice of architecture