NDLI: Parallel robot control using speculative computation

Content Provider	IEEE Xplore Digital Library
Author	Hamilton, D.L. Walker, L.D. Bennett, J.K.
Copyright Year	1996
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA (Hamilton, D.L.; Walker, L.D.; Bennett, J.K.)
Abstract	Due to the coupling in the dynamics equations, coarse-grain parallelism of robot control algorithms is particularly difficult. We have developed a new algorithm based on the Newton-Euler dynamics formulation that overcomes the serial nature of these equations, allowing a high level of parallelism. Our controller uses data from a previous control step in current calculations to allow many more tasks to be executed in parallel, thus providing higher control update rates. The use of 'stale' data is an effective solution to the speedup problem, but presents some special difficulties. One stability issue when using 'stale' data that is encountered in previous approaches is discussed here, along with a partial solution to the problem.
Starting Page	3420
Ending Page	3427
File Size	751491
Page Count	8
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.509233
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Parallel robots Robot control Concurrent computing Equations Computer architecture Torque Parallel processing Heuristic algorithms Lagrangian functions Binary search trees
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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