Distributed architecture and fast parallel algorithms in real-time robot control

Thesis/Dissertation · Tue Jan 01 00:00:00 EST 1985

OSTI ID:5790836

Binder, E E

Control algorithms for accurate and fast moving robots require the use of the complete dynamic model of the robot. The complete dynamic model takes into account the nonlinearity and coupling terms of the whole structure. The time of computing the dynamic equations determines whether they are usable in practical applications. Reducing the computation time can be achieved by simplifying the dynamic model, simplifying the calculations, and improving the computer's computation speed. The proposed solution is a distributed computer architecture, and new fast parallel algorithms which allow efficient utilization of the computers. This architecture has several advantages: modularity, reliability, spatial distribution, and speed. Because of the serial nature of the dynamic calculations, it is difficult to achieve efficient utilizations of the multiple computers. With the new algorithms, motion, and force values, which must be passed between the computers, are replaced by predicted values. The predicted information is acquired from values calculated in previous sample intervals. This allows efficient use of the computers and increases the computation speed of the control algorithms.

• Research Organization: Oregon State Univ., Corvallis (USA)
• OSTI ID: 5790836
• Resource Relation: Other Information: Thesis (Ph. D.)
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
DISTRIBUTED DATA PROCESSING
ARCHITECTURE
PARALLEL PROCESSING
ALGORITHMS
ROBOTS
COMPUTERIZED CONTROL SYSTEMS
REAL TIME SYSTEMS
CONTROL SYSTEMS
DATA PROCESSING
MATHEMATICAL LOGIC
PROCESSING
PROGRAMMING
990200* - Mathematics & Computers