Sequential and parallel real-time simulation of a flexible manipulator system

Authors:
M. O. Tokhi;M. A. Hossain;A. K. M. Azad
Affiliations:
Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield S1 3JD, UK;Department of Computer Science, University of Dhaka, Bangladesh;Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield S1 3JD, UK
Venue:
Robotica
Year:
1998

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Abstract

This paper presents an investigation into the utilisation of sequential and parallel processing techniques for the real-time simulation of a flexible manipulator system. A finite dimensional simulation of the system is developed using a finite difference approximation to the governing dynamic equation of the manipulator. The developed algorithm is implemented on a number of uni-processor and multi-processor, homogeneous and heterogeneous, parallel architectures. A comparison of the results of these implementations is made and discussed, on the basis of real-time processing requirements in the simulation and control of flexible manipulator systems.