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Performance Analysis of a Robotic Testbed Control Architecture.

Robinson, J.; Desrochers, A.A.

In: Proceedings of the IEEE International Conference on Robotics and Automation, 1990, Cincinnati, OH, USA; Vol. 3, pages 1782-1787. Los Alamitos, CA, USA: IEEE Comput. Soc. Press, 1990.

Abstract: A modeling and analysis tool based on Petri nets which allows a performance analysis of a system during the design stage is presented. The performance analysis criterion is taken as the response time of the system. This response time takes into account image processing time, a trajectory planning time, control execution time, etc. The result is a common modeling methodology for handling such diverse functions as control, communication, computation, and database problems. Approaches are presented to modeling and analysis of integrated systems.

Keywords: performance analysis (of) robotic control architecture; response time; image processing time; trajectory planning time; control execution time; database; integrated system.

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