Parallel processing for real-time adaptive robot control: theoretical issues and practical implementation

The authors present a practical solution to the problem of real-time robot control including the nonlinear dynamic model of the manipulator by employing a parallel processing approach. The parallelism inherent in the adaptive controllers is exploited to obtain an efficient implementation that reduces the overall computation time to within the limit acceptable for real-time control. The distributed algorithm is implemented on a network of transputers for the six-joint PUMA 560 arm.<
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