Distributed computer architecture and fast parallel algorithms in real-time robot control
IEEE Transactions on Systems, Man and Cybernetics
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
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A multiprocessor machine, KUMARAN, with six target processors for real-time applications and an additional processor using the Unix operating system for development purposes has been implemented at San Diego State University. The machine is used to explore and evaluate parallel algorithms in the area of robot dynamics. A particular approximate algorithm for general inverse dynamics is considered here. The algorithm is based on the execution of each iteration of the recursive Newton-Euler formula associated with a manipulator link on a separate CPU, while the inter-processor synchronization is completely removed. Several experiments were run using a PUMA 560 manipulator as a specific example. Experiments have shown surprisingly small differences between the approximate and exact solutions.