Title :
Parallel processing for real-time adaptive robot control: theoretical issues and practical implementation
Author :
Ziauddin, S.M. ; Zalzala, A.M.S.
Author_Institution :
Dept. of Automat. Control & Syst. Eng., Sheffield Univ., UK
fDate :
2/1/1994 12:00:00 AM
Abstract :
The authors present a practical solution to the problem of real-time robot control including the nonlinear dynamic model of the manipulator by employing a parallel processing approach. The parallelism inherent in the adaptive controllers is exploited to obtain an efficient implementation that reduces the overall computation time to within the limit acceptable for real-time control. The distributed algorithm is implemented on a network of transputers for the six-joint PUMA 560 arm
Keywords :
adaptive control; nonlinear control systems; parallel algorithms; real-time systems; robot programming; robots; transputer systems; adaptive controllers; distributed algorithm; manipulator; nonlinear dynamic model; parallel processing approach; practical solution; real-time robot control; six-joint PUMA 560 arm; transputers;
Conference_Titel :
High Performance Applications of Parallel Architectures, IEE Colloquium on
Conference_Location :
London
