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Parallel computation of symbolic robot models of pipelined processor architectures

Published online by Cambridge University Press:  09 March 2009

N. Kirćanski ,
T. Petović  and
M. Vukobratović
N. Kirćanski
Affiliation:
Mihailo Pupin Institute, University of Belgrade, POB 15 Belgrade Yugoslavia
T. Petović
Affiliation:
Mihailo Pupin Institute, University of Belgrade, POB 15 Belgrade Yugoslavia
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Summary

Increased speed of inverse dynamics computation is essential for improving the characteristics of robot control systems. This is achieved by reducing the numerical complexity of the models and by introducing parallelism in model computation. In this paper customized symbolic models with a near minimum numerical complexity will be used as a basis for the examination of parallelism in inverse dynamic robot models. A scheduling algorithm for the distribution of computational load onto an arbitrary linear array of pipelined processors will be developed. The proposed algorithm is experimentally evaluated on a transputer network.

Keywords

Heuristic scheduling functionCustomized symbolic modelsTime-delayPipelined transputers
Type
Research Article
Information
Robotica , Volume 11 , Issue 1 , January 1993 , pp. 37 - 47
Copyright
Copyright © Cambridge University Press 1993

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