Parallel processing in the real-time simulation of flexible manipulator systems

The paper presents an investigation into the utilisation of parallel processing techniques in the real-time simulation of a flexible manipulator system. The performance demands of modern control systems require the employment of complex algorithms with demanding operations. This, in turn, leads to shorter sampling times. Therefore, real-time performances with complex algorithms become difficult to achieve. Many demanding complex processes cannot be satisfactorily realised with conventional uni-processor and multi-processor systems. Thus, alternative strategies where multi-processor based systems are employed, making effective use of parallel processing techniques, could provide suitable solutions. A finite dimensional simulation of a single-link flexible manipulator system is developed through discretisation of the governing dynamic equation of the system both in time and space co-ordinates using finite difference approximation methods. The proposed algorithm allows for dynamic modification of the boundary conditions and inclusion of distributed actuator and sensor terms in the system dynamic equation