Efficient scheduling algorithms for robot inverse dynamics computation on a multiprocessor system
Journal Article
·
· IEEE Trans. Syst., Man, Cybern.; (United States)
The problem of scheduling the robot inverse dynamics computation consisting of m computational modules to be executed on a multiprocessor system consisting of rho identical homogeneous processors to achieve a minimum-scheduled length is presented. This scheduling problem is known to be NP-complete. To achieve the minimum computation time, the Newton-Fuller equations of motion are expressed in the homogeneous linear recurrence from that results in achieving maximum parallelism. To speed up the searching for a solution, a heuristic search algorithm called dynamical highest level first/most immediate successors first (DHLF/MISF) is first proposed to find a fast but suboptimal schedule.
- Research Organization:
- 9509988; 5359000
- OSTI ID:
- 5818545
- Journal Information:
- IEEE Trans. Syst., Man, Cybern.; (United States), Journal Name: IEEE Trans. Syst., Man, Cybern.; (United States) Vol. 18:5; ISSN ISYMA
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
99 GENERAL AND MISCELLANEOUS
990210* -- Supercomputers-- (1987-1989)
ALGORITHMS
ARRAY PROCESSORS
COMPUTER CALCULATIONS
DIFFERENTIAL EQUATIONS
DYNAMICS
EQUATIONS
EQUATIONS OF MOTION
MATHEMATICAL LOGIC
MECHANICS
OPTIMIZATION
PARALLEL PROCESSING
PARTIAL DIFFERENTIAL EQUATIONS
PERFORMANCE
PROGRAMMING
ROBOTS
990210* -- Supercomputers-- (1987-1989)
ALGORITHMS
ARRAY PROCESSORS
COMPUTER CALCULATIONS
DIFFERENTIAL EQUATIONS
DYNAMICS
EQUATIONS
EQUATIONS OF MOTION
MATHEMATICAL LOGIC
MECHANICS
OPTIMIZATION
PARALLEL PROCESSING
PARTIAL DIFFERENTIAL EQUATIONS
PERFORMANCE
PROGRAMMING
ROBOTS