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Parallel computation of robot inverse dynamics for high speed motions

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The computation of the highly coupled dynamic equations has always posed a bottleneck in real-time dynamic control of robot manipulators. In the paper an attempt is made to review the subject of the parallel computation of robot dynamics. Moreover, a new and highly efficient technique is introduced to solve this problem. A simplified form of the Lagrange-Euler is divided into subtasks and distributed on to a parallel processing system. The development system employs several INMOS transputers running the OCCAM concurrent programming language. Further, the system is used to introduce parallelism to robot dynamics through different task allocation strategies. The cost effectiveness and speed of the algorithm are demonstrated by a case study. Comparisons are made between uniprocessor and parallel implementations of the algorithm. Several measures such as utilisation, efficiency, and speed up are used to evaluate the performance of the employed networks and task allocations.

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IEE Proceedings - Control Theory and Applications  (Volume:139 ,  Issue: 2 )