Scheduling robot inverse dynamics computation for multiprocessor-based control

J. Tonkinson, Max Donath

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Appropriate multiprocessor characteristics of this type of problem include loose coupling between processors, MIMD parallelism and a hypercube topology. An off-line scheduler was developed in order to distribute and sequence the state-space tasks on the multiprocessor system in order to minimize total schedule time. The scheduler found that extensive parallelism in the state-space formulation does indeed lead to significant enhancements in computational speed as the number of CPU's is increased. Improvements resulting from the recursive Newton-Euler formulation are not as dramatic; however, the total schedule time is less, due to the inherent simplicity of the recursive Newton-Euler equations.

Original languageEnglish (US)
Title of host publicationProc USA Jpn Symp Flexible Autom Crossing Bridges Adv Flexible Autom Rob
PublisherPubl by American Soc of Mechanical Engineers (ASME)
Pages107-113
Number of pages7
StatePublished - Dec 1 1988
EventProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA
Duration: Jul 18 1988Jul 20 1988

Other

OtherProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics
CityMinneapolis, MN, USA
Period7/18/887/20/88

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    Tonkinson, J., & Donath, M. (1988). Scheduling robot inverse dynamics computation for multiprocessor-based control. In Proc USA Jpn Symp Flexible Autom Crossing Bridges Adv Flexible Autom Rob (pp. 107-113). Publ by American Soc of Mechanical Engineers (ASME).