SPARTA: multiple signal processors for high-performance robotic control

The SPARTA (signal processor for advanced robot technology applications) system is a hybrid computer which includes: (1) program development environment on an IBM VM/CMS mainframe computer; (2) user interface and runtime support on an IBM PC; and (3) real-time computation and I/O using multiple IBM Hermes signal processors situated on the IBM PC bus. The program-development environment includes the PLH high-level language for generating efficient real-time Hermes code. The runtime supports symbolic debugging, dynamic loading, and synchronous switching of control algorithms during real-time program execution. The real-time environment includes an operating system which supports foreground and background task execution and real-time data collection and display. A SPARTA system with three Hermes signal processors is currently being used to develop control algorithms for a two-axis fast direct-drive Cartesian robot at sample rates in excess of 10 kHz;