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Parallel robot control using speculative computation

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3 Author(s)
Hamilton, D.L. ; Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA ; Walker, I.D. ; Bennett, John K.

Due to the coupling in the dynamics equations, coarse-grain parallelism of robot control algorithms is particularly difficult. We have developed a new algorithm based on the Newton-Euler dynamics formulation that overcomes the serial nature of these equations, allowing a high level of parallelism. Our controller uses data from a previous control step in current calculations to allow many more tasks to be executed in parallel, thus providing higher control update rates. The use of `stale' data is an effective solution to the speedup problem, but presents some special difficulties. One stability issue when using `stale' data that is encountered in previous approaches is discussed here, along with a partial solution to the problem

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996