By Topic

Implementation and experimental study of a multiprocessor system for real-time model-based robot motion control

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
$31 $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

2 Author(s)
Wei-Shiu Wang ; Dept. of Electr. Eng., Nat. Taiwan Inst. of Technol., Taipei, Taiwan ; Chang-Huan Liu

This paper presents the design and implementation of a multiprocessor system for real-time robot motion control. Full inverse dynamics compensation control laws in both joint and Cartesian spaces are used for developing parallel computation algorithms. The algorithms are divided into subtasks which are distributed among a fixed number of processors based on heuristic scheduling algorithms. The control laws are real-time tested on an experimental robot. The results present a feasible way for improving controller performance of current industrial robots.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:41 ,  Issue: 2 )