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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yuan Zheng Chen, B. |
| Copyright Year | 1985 |
| Description | Author affiliation: Clemson University (Yuan Zheng) |
| Abstract | A loosely coupled multiprocessor system dedicated to dynamic control of multilink system is designed. The multiprocessor system includes one central processor and a group of satellite processors. For the simplicity and flexibility of the design, both the system hardware and software are designed in a modular fashion. How to use this multiprocessor to control a multilink system is also presented in this paper. Newton-Euler state space formulation is used to derive equations of motion and a nonlinear control scheme is used for control of a multilink system. For the control scheme selected, task scheduling of parallel computation among the processors is studied. Finally, a two-link robotic system is used as an example to demonstrate the effectiveness of the multiprocessor system and the task scheduling scheme. |
| Starting Page | 295 |
| Ending Page | 300 |
| File Size | 506696 |
| Page Count | 6 |
| File Format | |
| DOI | 10.1109/ROBOT.1985.1087269 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1985-03-25 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Control systems Multiprocessing systems Motion control Nonlinear control systems Processor scheduling Satellites Hardware Software systems Software design State-space methods |
| Content Type | Text |
| Resource Type | Article |
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