Towards the real-time control of robotic systems

Robot control has been an area of active research and development. However, the high computational load posed by many of the modern algorithms precludes its industrial application using present day microcomputers. This situation can be overcome through the development of control strategies more adapted to the microcomputer. Along this line of thought, the article compares the computational capabilities of several computers and introduces techniques capable of rendering more efficient practical implementations. It is organized as follows. In section two the authors evaluate the computational load posed by different operations to several computer systems. Based on the results, the authors present general techniques amenable to robot control implementation. Finally conclusions are drawn