TY - JOUR
T1 - Parallel Processing of Robot-Arm Control Computation on a Multimicroprocessor System
AU - Kasahara, Hironori
AU - Narita, Seinosuke
PY - 1985/6
Y1 - 1985/6
N2 - 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.
AB - 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.
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U2 - 10.1109/JRA.1985.1087004
DO - 10.1109/JRA.1985.1087004
M3 - Article
AN - SCOPUS:0022074147
VL - 1
SP - 104
EP - 113
JO - IEEE journal of robotics and automation
JF - IEEE journal of robotics and automation
SN - 0882-4967
IS - 2
ER -