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

Volume

3

fYear

1996

fDate

11-13 Dec 1996

Firstpage

3006

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.573580

Filename

573580