| Sign In to gain access to subscriptions and/or personal tools. |
Modeling and simulation of robot dynamics using transputer-based architecturesRobotics Research Group Department of Control Engineering University of Sheffield Mappin Street, Sheffield United Kingdom S1 3JD
Robotics Research Group Department of Control Engineering University of Sheffield Mappin Street, Sheffield United Kingdom S1 3JD Advanced control strategies require the inclusion of the dynamical model of the robot arm in the control law. However, the dynamics consist of a highly coupled and non-linear set of equations. Thus, this complexity has always presented a major obstacle in real-time dynamic control applications. The computation ally efficient solution of this problem will lead to a better comprehension of the key factors effecting robot operations. This work describes a solution of this problem by employing a parallel processing approach. The dynamics are computed by using a semi-customized Newton-Euler formulation. The algorithm is distributed over a highly- coupled multipleTM instruction multiple-data steram (MIMD) computer architecture. The computer system is constructed from general purpose (VLSI) building blocks called the (TRANSPUTER). The cost-effective ness and speed of the scheme is demon strated by a case study (PUMA 560 robot arm). The communication issues between the different processors and discussed. Speed-up results are included to show the superiority and advantages of the parallel approach.
Key Words: robot dynamics • inverse dynamics • parallel processing • Transputer • Occam • MIMD.
SIMULATION, Vol. 54, No. 5,
269-278 (1990) |
||||
 |
|
|
 |
|
Sign In to gain access to subscriptions and/or personal tools.
