Parallel Processing of Robot-Arm Control Computation on a Multimicroprocessor System

Hironori Kasahara, Seinosuke Narita

Research output: Contribution to journalArticle

101 Citations (Scopus)

Abstract

A parallel-processing scheme is described for robot-arm control computation on any number of parallel processors. The scheme employs two multiprocessor scheduling algorithms called, respectively, depth first/implicit heuristic search (DF/IHS) and critical path/most immediate successors first (CP/MISF); these were recently developed by the authors. 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.

Original languageEnglish
Pages (from-to)104-113
Number of pages10
JournalIEEE Journal on Robotics and Automation
Volume1
Issue number2
DOIs
Publication statusPublished - 1985 Jun

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Engineering(all)
  • Computer Science Applications
  • Electrical and Electronic Engineering

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