Modeling and simulation of robot dynamics using transputer-based architectures
Journal Article
·
· Simulation; (USA)
- Robotics Research Group, Dept. of Control Engineering, Univ. of Sheffield, Mappin Street, Sheffield S1 3JD (GB)
Advanced control strategies require the inclusion of the dynamical model of the robot arm in the control law. However, the dynamics consist of a highly coupled and non-linear set of equations. Thus, this complexity has always presented a major obstacle in real-time dynamic control applications. The computationally efficient solution of this problem will lead to a better comprehension of the key factors effecting robot operations. This work describes a solution of this problem by employing a parallel processing approach. The dynamics are computed by using a semi-customized Newton-Euler formulation. The algorithm is distributed over a highly-coupled multiple instruction multiple-data steram (MIMD) computer architecture.
- OSTI ID:
- 6676174
- Journal Information:
- Simulation; (USA), Journal Name: Simulation; (USA) Vol. 54:5; ISSN 0037-5497; ISSN SIMUA
- Country of Publication:
- United States
- Language:
- English
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