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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Wei-Shui Wang Kus-Kuang Chen Yen-Sheng Lai Chang-Huan Liu |
| Copyright Year | 1989 |
| Description | Author affiliation: Dept. of Electr. Eng., Nat. Taiwan Inst. Tech., Taipei, Taiwan (Wei-Shui Wang; Kus-Kuang Chen) |
| Abstract | The implementation of a 32-bit multiple microprocessor-based system for real-time inverse dynamics computation is presented. The recursive Newton-Euler algorithm for serial-link robotic manipulators is decomposed into subtasks, which are then arranged for parallel computation using scheduling algorithms. The hardware system uses currently available 32-bit microprocessors and provides easy expandability for accommodating multiple microprocessors. The implementational and experimental results for computing the inverse dynamics algorithms are presented. Using the six-axis Stanford manipulator as an example, the actual computing time for executing the complete inverse dynamics is within 1.758 ms. The execution time can be further reduced by customizing the scheduling algorithms, with a resultant time of 1.472 ms. The results indicate that real-time computation of sophisticated robotic control algorithms can be realized using currently available high-performance 32-bit microprocessors. |
| Starting Page | 1174 |
| Ending Page | 1179 |
| File Size | 468330 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818619384 |
| DOI | 10.1109/ROBOT.1989.100139 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1989-05-14 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Multiprocessing systems Real time systems Scheduling algorithm Manipulator dynamics Microprocessors Parallel robots Concurrent computing Hardware Heuristic algorithms Robot control |
| Content Type | Text |
| Resource Type | Article |
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