UNIX-based robotic controller architecture

Describes an attempt to transfer the robotic arm control system (RACS) to the UNIX-based platform. The RACS features a practical computer architecture utilizing off-the-shelf parts. It may be used to implement any control method and is particularly well suited for complex schemes like the reflex-action position control. The control flow does not require all the input data to be present at one instant of time. Thus the concept of distributed sampling control may be used. The RACS is driven by the UNIX-based workstation through the industrial standard VME bus.