A multiprocessor for dynamic control of multilink systems

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.