Parallel processing of robot dynamics simulation using optimal multiprocessor scheduling algorithms

Hironori Kasahara, Masahiko Iwata, Seinosuke Narita, Hirofumi Fujii

    Research output: Contribution to journalArticle

    Abstract

    This paper discusses the parallel processing of real-time robot dynamics simulation, an indispensable technique for a robot with a high-level function. It is a computation procedure to determine the robot motion for the given torque and driving force at each joint. Optimal multiprocessor scheduling algorithms are developed that allow the dynamics of a robot arm with arbitrary shape to be simulated with the minimum processing time on a multiprocessor system composed of an arbitrary number of parallel processors. The effectiveness and the practical usefulness of the proposed parallel processing scheme are demonstrated on the robot motion simulator using a prototype multiprocessor system.

    Original languageEnglish
    Pages (from-to)45-54
    Number of pages10
    JournalSystems and Computers in Japan
    Volume19
    Issue number10
    Publication statusPublished - 1988 Oct

    Fingerprint

    Robot Dynamics
    Multiprocessor Scheduling
    Optimal Scheduling
    Parallel Processing
    Scheduling algorithms
    Scheduling Algorithm
    Dynamic Simulation
    Robot
    Robots
    Multiprocessor Systems
    Computer simulation
    Processing
    Parallel Processors
    Motion
    Arbitrary
    Driving Force
    Torque
    Simulator
    Prototype
    Real-time

    ASJC Scopus subject areas

    • Computational Theory and Mathematics
    • Hardware and Architecture
    • Information Systems
    • Theoretical Computer Science

    Cite this

    Parallel processing of robot dynamics simulation using optimal multiprocessor scheduling algorithms. / Kasahara, Hironori; Iwata, Masahiko; Narita, Seinosuke; Fujii, Hirofumi.

    In: Systems and Computers in Japan, Vol. 19, No. 10, 10.1988, p. 45-54.

    Research output: Contribution to journalArticle

    Kasahara, Hironori ; Iwata, Masahiko ; Narita, Seinosuke ; Fujii, Hirofumi. / Parallel processing of robot dynamics simulation using optimal multiprocessor scheduling algorithms. In: Systems and Computers in Japan. 1988 ; Vol. 19, No. 10. pp. 45-54.
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