A parallel-processing scheme is described for robot-arm control computation on any number of parallel processors. The scheme uses two multiprocessor scheduling algorithms recently developed by the authors and called, respectively, depth first/implicit heuristic search (DF/IHS) and critial path/most immediate successors first (CP/MISF). The scheme is applied to the parallel processing of dynamic control computation for the Stanford manipulator. In particular, the proposed algorithms are applied to the computation of the Newton-Euler equations of motion for the Stanford manipulator and implemented on a multimicroprocessor system. The test result was so successful that the use of six processor pairs in parallel could attain the processing time of 5. 37 ms. It is also shown that the proposed parallel-processing scheme is applicable to an arbitrary number of processors.
|Number of pages||10|
|Journal||IEEE journal of robotics and automation|
|Publication status||Published - 1985 Jun|
ASJC Scopus subject areas