By Topic

Parallel computation of symbolic robot models and control laws: theory and application on transputer networks

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
N. Kircanski ; Dept. of Robotics, Mihailo Pupin Inst., Belgrade, Yugoslavia ; T. Petrovic ; M. Vukobratovic

The authors present two novel parallel algorithms for computing robot inverse dynamics and control laws starting from the customized symbolic robot models. The first algorithm resolves the scheduling problem for an array of pipelined processors. The second algorithm is devoted to parallel processors connected by a complete crossbar interconnection network. The main feature of the algorithms is that they take into account the communication delays between processors and minimize both the execution time and the communication cost. The algorithms were verified by experiments on an INMOS T800 transputer-based system. The experimental results showed that the most complicated dynamic control laws could be executed in a submillisecond range

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992