Parallel algorithms and architectures for the manipulator inertia matrix

Miscellaneous · Sun Jan 01 00:00:00 EST 1989

OSTI ID:5923653

Amin-Javaheri, M

Several parallel algorithms and architectures to compute the manipulator inertia matrix in real time are proposed. An O(N) and an O(log{sub 2}N) parallel algorithm based upon recursive computation of the inertial parameters of sets of composite rigid bodies are formulated. One- and two-dimensional systolic architectures are presented to implement the O(N) parallel algorithm. A cube architecture is employed to implement the diagonal element of the inertia matrix in O(log{sub 2}N) time and the upper off-diagonal elements in O(N) time. The resulting K{sub 1}O(N) + K{sub 2}O(log{sub 2}N) parallel algorithm is more efficient for a cube network implementation. All the architectural configurations are based upon a VLSI Robotics Processor exploiting fine-grain parallelism. In evaluation all the architectural configurations, significant performance parameters such as I/O time and idle time due to processor synchronization as well as CPU utilization and on-chip memory size are fully included. The O(N) and O(log{sub 2}N) parallel algorithms adhere to the precedence relationships among the processors. In order to achieve a higher speedup factor; however, parallel algorithms in conjunction with Non-Strict Computational Models are devised to relax interprocess precedence, and as a result, to decrease the effective computational delays. The effectiveness of the Non-strict Computational Algorithms is verified by computer simulations, based on a PUMA 560 robot manipulator. It is demonstrated that a combination of parallel algorithms and architectures results in a very effective approach to achieve real-time response for computing the manipulator inertia matrix.

• Research Organization: Ohio State Univ., Columbus, OH (USA)
• OSTI ID: 5923653
• 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
ALGORITHMS
PARALLEL PROCESSING
MANIPULATORS
MOMENT OF INERTIA
MATRICES
COMPUTER ARCHITECTURE
COMPUTERIZED CONTROL SYSTEMS
COMPUTERIZED SIMULATION
EVALUATION
INTEGRATED CIRCUITS
PERFORMANCE
REAL TIME SYSTEMS
ROBOTS
CONTROL SYSTEMS
ELECTRONIC CIRCUITS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
MICROELECTRONIC CIRCUITS
PROGRAMMING
REMOTE HANDLING EQUIPMENT
SIMULATION
990200* - Mathematics & Computers