Implementation and experimental study of a multiprocessor system for real-time model-based robot motion control

This paper presents the design and implementation of a multiprocessor system for real-time robot motion control. Full inverse dynamics compensation control laws in both joint and Cartesian spaces are used for developing parallel computation algorithms. The algorithms are divided into subtasks which...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 1994-04, Vol.41 (2), p.163-172
Main Authors: Wang, Wei-Shiu, Liu, Chang-Huan
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Concurrent computing
Control systems
Control theory. Systems
Exact sciences and technology
Motion control
Multiprocessing systems
Real time systems
Robot control
Robot motion
Robotics
Scheduling algorithm
Service robots
Testing
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents the design and implementation of a multiprocessor system for real-time robot motion control. Full inverse dynamics compensation control laws in both joint and Cartesian spaces are used for developing parallel computation algorithms. The algorithms are divided into subtasks which are distributed among a fixed number of processors based on heuristic scheduling algorithms. The control laws are real-time tested on an experimental robot. The results present a feasible way for improving controller performance of current industrial robots.< >
ISSN:0278-0046
1557-9948
DOI:10.1109/41.293876