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

Hironori Kasahara, Seinosuke Narita

研究成果: Article査読

103 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)104-113
ページ数10
ジャーナルIEEE Journal on Robotics and Automation
1
2
DOI
出版ステータスPublished - 1985 6

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 工学(全般)
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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