Title :
Distributed computation method for multi link system using digital signal processor
Author :
Tetsuya, Nii ; Yoshiyuki, Sankai
Author_Institution :
Doctoral Programs of Eng., Tsukuba Univ., Ibaraki, Japan
Abstract :
We have developed a high speed and effective control strategy for nonlinear systems such as a link system or legged-robots. It takes too much time to calculate the inverse dynamics compensation according to the increase of degrees of freedom. Therefore we proposed a parallel control method and developed small (5 cm×5 cm) digital signal processor (DSP) control unit for installation. The parallel computation based on interactive forces enables us to realize high speed calculation, and every DSP module has the same calculation routine
Keywords :
digital signal processing chips; distributed control; nonlinear control systems; object-oriented methods; parallel processing; robot dynamics; digital signal processor; distributed computation method; high speed calculation; interactive forces; multi-link system; nonlinear systems; parallel computation; parallel control method; Angular velocity; Concurrent computing; Control systems; Costs; Digital signal processing; Digital signal processing chips; Digital signal processors; Distributed computing; Equations; Nonlinear control systems;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.573580
