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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Luh, J.Y.S. Lin, C.S. |
| Copyright Year | 1979 |
| Description | Author affiliation: Purdue University (Luh, J.Y.S.) |
| Abstract | The advantage of using a Multiprocessor controller for a mechanical manipulator is that parallel computations may be arranged to achieve a minimum computing time so that a reat time control is possible. The parallel processing scheme utilizes a number of CPU's and pursues the following steps. First divide the entire task into subtasks. Based on the precedence relations, an optimum order of execution for each CPU is obtained by using an algorithm which includes, afternatively, forward and backward phases. in each forward phase it seeks the currently available, shorter computing time, while in each backward phase it seLects a better alternative. A FORTRAN program has been written for a manipulator and is being applied to the Stanford maniputator with a Z.8000 microcomputer. |
| Starting Page | 458 |
| Ending Page | 463 |
| File Size | 390506 |
| Page Count | 6 |
| File Format | |
| DOI | 10.1109/CMPSAC.1979.762542 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1979-11-06 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Manipulator dynamics Sampling methods Force control Torque control Frequency Service robots Bandwidth Lagrangian functions Assembly Concurrent computing |
| Content Type | Text |
| Resource Type | Article |
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