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. Real‐time robot dynamics simulation is an indispensable technique for a robot with a high‐level function. It is a computation procedure to determine the robot motion (joint position, speed, acceleration, etc.) for the given torque and driving force at each joint. In the proposed scheme, the optimal multiprocessor scheduling algorithms developed in this paper are employed, and the dynamics of the robot arm with arbitrary shape can 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 ire demonstrated on the robot motion simulator using a prototype multiprocessor system. This is the first report of the robot dynamics simulation being realized efficiently by the parallel processing on the real‐time multiprocessor system. Thus it is verified that the multiprocessor robot dynamics simulator with an excellent cost‐performance ratio can be realized.

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

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ASJC Scopus subject areas

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

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