IMPLEMENTATION OF THE ROBOT INVERSE DYNAMICS COMPUTATION ALGORITHM ON A TRANSPUTER NETWORK

被引：0

作者：

SPAIS, VA ^{[1
]}

PETROU, LP ^{[1
]}

机构：

[1] ARISTOTELIAN UNIV THESSALONIKI,FAC ENGN,DEPT ELECT ENGN,DIV ELECTR & COMP ENGN,GR-54006 THESSALONIKI,GREECE

来源：

MICROPROCESSING AND MICROPROGRAMMING | 1993年 / 39卷 / 01期

关键词：

TRANSPUTERS; ROBOTICS; PARALLEL PROCESSING;

D O I：

10.1016/0165-6074(93)90258-M

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a real-time implementation of the Newton Euler algorithm to determine the inverse dynamics of a robot arm. The algorithm executes on a network of T800 transputers, where each robotic arm link is assigned its own transputer. The performance achieved is 1000 trajectory points per second for a PUMA-like robot arm. A specialized interconnection topology is used to mitigate the effects of the interprocessor communications bottleneck.

引用

页码：17 / 23

页数：7

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