Modeling and simulation of robot dynamics using transputer-based architectures

摘要

Advanced control strategies require the inclusion of the dynamical model of the robot arm in the control law. However, the dynamics consist of a highly coupled and non-linear set of equations. Thus, this complexity has always presented a major obstacle in real-time dynamic control applications. The computation ally efficient solution of this problem will lead to a better comprehension of the key factors effecting robot operations. This work describes a solution of this problem by employing a parallel processing approach. The dynamics are computed by using a semi-customized Newton-Euler formulation. The algorithm is distributed over a highly- coupled multiple™ instruction multiple-data steram (MIMD) computer architecture. The computer system is constructed from general purpose (VLSI) building blocks called the (TRANSPUTER). The cost-effective ness and speed of the scheme is demon strated by a case study (PUMA 560 robot arm). The communication issues between the different processors and discussed. Speed-up results are included to show the superiority and advantages of the parallel approach.