This paper presents a contribution to the integration of Advanced Robot Control and task planning areas of research. Advanced Robot Control Algorithms are discussed and a case study for a two-degree-of-freedom manipulator is presented. An approach to integrating advanced controllers and task planning for planning and control parameter evaluation as well as approaches to the real-time execution of the controller, are made. The application of parallel architectures for implementation of real-time Advanced Controllers is explored and discussed. The application of transputer based architectures is presented and a methodology for exploring the parallelism of the control algorithm is explained.
Robot Control, Parallel Processing, Task Planning
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