Abstract
The design of a new commercial robot controller, featuring force control capabilities, has been assumed as a case study, focusing on both functional and architectural aspects, such as distribution of functions over a multiprocessor structure, Communications among processor and sensors, task scheduling and sincronization. In particular, the specific aspect concerning the interaction between robot position control and force control has been investigated, exploiting the features of a specific simulation tool for the design and evaluation of the real-time control strategies and of the hardware/software architecture
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