DocumentCode
3623160
Title
A parallel computer architecture for real-time control applications in grasping and manipulation
Author
N. Kircanski;T. Petrovic;M. Vukobratovic
Author_Institution
Robotics Dept., Mihailo Pupin Inst., Belgrade, Yugoslavia
fYear
1993
Firstpage
410
Abstract
A scheduling algorithm is presented for multiprocessor architectures based on either complete or incomplete crossbar interconnection networks. The proposed algorithm takes into account the communication delays between processors and minimizes both the execution time and the communication cost. The algorithms are verified by experiments on an INMOS T800 transputer-based system. The system consists of eight nodes connected by bidirectional serial communication lines forming a 3-dimensional hypercube.
Keywords
"Computer architecture","Application software","Hypercubes","Communication system control","Control systems","Robot kinematics","Parallel robots","Algorithm design and analysis","Scheduling algorithm","Delay effects"
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.292179
Filename
292179
Link To Document