Parallel computation of a control algori
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C. Ginis; R. Carelli; D.I. Jones; E. Zavalla
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Article
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1996
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Elsevier Science
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English
⚖ 680 KB
The paper considers parallel computation of an adaptive impedance control algorithm for a robot manipulator. Simulation results show that short sampling periods are necessary in order to obtain correct action of the control method. The complex control law is represented as a task graph and scheduled