Title :
Distributed robot control on transputer network
Author :
Zalzala, A.M.S. ; Morris, A.S.
Author_Institution :
Dept. of Control Eng., Sheffield Univ., UK
fDate :
7/1/1991 12:00:00 AM
Abstract :
The minimum-time control of robot arms has usually been implemented as a two-task procedure, where the appropriate trajectory planning is performed off-line, and then tracking is carried out on-line to achieve the desired motion. However, such an approach is unacceptable whenever the motion is dependent on the on-board sensory equipment operated during the application. An on-line trajectory generator is described in which the history of motion is planned and executed in real time. The computational complexities of the minimum-time requirements of the motion have been reduced significantly by distributing the proposed algorithm on a multiprocessor system. The practical implementation of the distributed system on a T800 transputer network shows its efficiency in accomplishing the required task. Real-time simulation results are reported for a PUMA 560 robot manipulator.
Keywords :
computerised control; position control; real-time systems; robots; transputers; PUMA 560 robot manipulator; T800; computational complexities; minimum-time control; minimum-time requirements; motion; multiprocessor system; on-board sensory equipment; real time; robot arms; simulation results; tracking; trajectory planning; transputer network;
Journal_Title :
Computers and Digital Techniques, IEE Proceedings E