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Carnegie Mellon Robotics Institute

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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.

Notes

Associated Center(s) / Consortia: National Robotics Engineering Center

Associated Lab(s) / Group(s): Advanced Mechatronics Lab

Associated Project(s): Chimera and Reconfigurable Modular Manipulator System

Text Reference

D.E. Schmitz, Pradeep Khosla, R. Hoffman, and Takeo Kanade, "CHIMERA: a real-time programming environment for manipulator control," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89),, May, 1989, pp. 846 - 852.

BibTeX Reference

@inproceedings{Khosla_1989_3554,
   author = "D.E. Schmitz and Pradeep Khosla and R. Hoffman and Takeo Kanade",
   title = "CHIMERA: a real-time programming environment for manipulator control",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89),",
   pages = "846 - 852",
   month = "May",
   year = "1989",
   volume = "2",
}

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