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Parallel computation of a control algorithm for a robot manipulator

โœ Scribed by C. Ginis; R. Carelli; D.I. Jones; E. Zavalla

Publisher
Elsevier Science
Year
1996
Tongue
English
Weight
680 KB
Volume
4
Category
Article
ISSN
0967-0661

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โœฆ Synopsis

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 for computation on a network of processors. The method of scheduling is described and measured execution times are presented.

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