Accurate Clock Synchronization for Distributed Robots.

Robot systems composed of sensors and actuators must operate in rapidly changing environments. We describe an approach to compensating sensor, processor, and actuator latencies. Sensor data (including data from robot actuators) must be tagged with the time at which it was taken to maintain a consistent world view. We have created a hardware "wall clock" which allows the time of hardware events to be precisely identified and communicated across a distributed microprocessor system.