smr99 Posted September 14, 2011 Share Posted September 14, 2011 What options are available if one power PMAC doesn't have sufficient processing resources? Can we put 2 or more Power PMACs in one chassis? Can we plug in a PC 104 or similar board into the system? Link to comment Share on other sites More sharing options...
Sina.Sattari Posted September 14, 2011 Share Posted September 14, 2011 smr99, What are you trying to achieve and how have you determined that the Power PMAC doesn't have enough processing power? to answer your question: No. There can be only one Power PMAC CPU in a rack and there is no PC-104 compatibility with this CPU. Link to comment Share on other sites More sharing options...
smr99 Posted September 15, 2011 Author Share Posted September 15, 2011 Thanks, Sina, We don't yet know whether there is enough processing power; I was just exploring options should it turn out not to be. We're thinking of using a PMAC for master/slave control of two manipulator arms and the concern is whether we can run the kinematics, haptic feedback, and collision detection at 1kHz for both arms on one PMAC. As I say, we haven't done the analysis yet. Link to comment Share on other sites More sharing options...
curtwilson Posted September 15, 2011 Share Posted September 15, 2011 It looks like you will be doing very intensive calculations in your kinematics routines -- the actual kinematics plus (I expect) the collision detection. If you start running out of processing power here, you can convert this code to C through the new "CfromScript" subroutine feature. The actual kinematics routines just become a shell to pass off the calculations to the C routine. Equivalent calculations will execute over 10 times faster in compiled C as opposed to the Script. Probably your haptic feedback will be done at servo rate. This also should be done in C, probably as a user-written servo for an extra "virtual" motor. Link to comment Share on other sites More sharing options...
Recommended Posts