Abstract
The paper reviews research on parallel processing of robot arm control computation, which has attracted much attention to develop a cost-effective, compact and advanced controller that allows the robot system to perform complicated operations quickly and accurately in various environments, such as in space or on the ocean floor. Many parallel processing hardware and software schemes have been proposed, especially for dynamic control computation, which allow a robot arm to trace a desirable path quickly and accurately. Among this research, that relating to multimicroprocessor systems, and which will soon be put to practical use, is described in this paper. Several parallel processing schemes for a robot arm dynamics computation based on the Newton-Euler equations, which is known to be the most efficient algorithm, are detailed.
| Original language | English |
|---|---|
| Pages (from-to) | 3-9 |
| Number of pages | 7 |
| Journal | Microprocessors and Microsystems |
| Volume | 14 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 1990 |
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Keywords
- control computation
- multimicroprocessors
- parallel processing
- robot arms
ASJC Scopus subject areas
- Computer Networks and Communications
- Hardware and Architecture
- Software
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Parallel processing of robot arm dynamic control computation on multimicroprocessors. / Kasahara, Hironori.
In: Microprocessors and Microsystems, Vol. 14, No. 1, 1990, p. 3-9.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Parallel processing of robot arm dynamic control computation on multimicroprocessors
AU - Kasahara, Hironori
PY - 1990
Y1 - 1990
N2 - The paper reviews research on parallel processing of robot arm control computation, which has attracted much attention to develop a cost-effective, compact and advanced controller that allows the robot system to perform complicated operations quickly and accurately in various environments, such as in space or on the ocean floor. Many parallel processing hardware and software schemes have been proposed, especially for dynamic control computation, which allow a robot arm to trace a desirable path quickly and accurately. Among this research, that relating to multimicroprocessor systems, and which will soon be put to practical use, is described in this paper. Several parallel processing schemes for a robot arm dynamics computation based on the Newton-Euler equations, which is known to be the most efficient algorithm, are detailed.
AB - The paper reviews research on parallel processing of robot arm control computation, which has attracted much attention to develop a cost-effective, compact and advanced controller that allows the robot system to perform complicated operations quickly and accurately in various environments, such as in space or on the ocean floor. Many parallel processing hardware and software schemes have been proposed, especially for dynamic control computation, which allow a robot arm to trace a desirable path quickly and accurately. Among this research, that relating to multimicroprocessor systems, and which will soon be put to practical use, is described in this paper. Several parallel processing schemes for a robot arm dynamics computation based on the Newton-Euler equations, which is known to be the most efficient algorithm, are detailed.
KW - control computation
KW - multimicroprocessors
KW - parallel processing
KW - robot arms
UR - http://www.scopus.com/inward/record.url?scp=0025206646&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0025206646&partnerID=8YFLogxK
U2 - 10.1016/0141-9331(90)90007-I
DO - 10.1016/0141-9331(90)90007-I
M3 - Article
AN - SCOPUS:0025206646
VL - 14
SP - 3
EP - 9
JO - Microprocessors and Microsystems
JF - Microprocessors and Microsystems
SN - 0141-9331
IS - 1
ER -