Title :
Parallel algorithm for robot generalized forces/torques computation
Author :
Liu Luyuan ; Wang Xindong ; Liu Chang
Author_Institution :
Dept. of Autom., Tianjin Univ., China
Abstract :
In this paper, based on a PUMA 560, studied with the resolved Newton-Euler inverse dynamic equations as the model, the authors propose the principles of decomposing the equations. An efficient heuristic scheduling algorithm, based on an activity on edge acyclic directed graph to express the priority relationship of the decomposed subtasks and the task-execution procedure is presented to (1) find a schedule to achieve the critical path time with minimum number of processors; and (2) find a schedule such that the execution time is minimal with fixed number of processors.<>
Keywords :
directed graphs; parallel algorithms; processor scheduling; robot dynamics; PUMA 560; activity on edge acyclic directed graph to; critical path time; decomposed subtasks; heuristic scheduling algorithm; parallel algorithm; priority relationship; resolved Newton-Euler inverse dynamic equations; robot generalized forces/torques computation; task-execution procedure; Concurrent computing; Equations; Finishing; Force control; Parallel algorithms; Parallel processing; Parallel robots; Robotics and automation; Scheduling algorithm; Torque control;
Conference_Titel :
TENCON '93. Proceedings. Computer, Communication, Control and Power Engineering.1993 IEEE Region 10 Conference on
Conference_Location :
Beijing, China
Print_ISBN :
0-7803-1233-3
DOI :
10.1109/TENCON.1993.320439
