The design and implementation of a distributed robot manipulator controller based on a parallel architecture is introduced in this paper. We consider the robot manipulator as a robot force and motion server (RFMS) to the robot system to execute force and motion commands issued by the robot coordinator. In the server, computation is distributed to a number of processors to achieve a system capable of executing computation expensive tasks. The use of "c" programming language for both the system programming and the user interface provides a convenient environment to control such a system.
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Paul et al. (1986) studied this question.