Robot Objective Parallel Calculation and Real-time Control Using a Digital Signal Processor
Yoshiyuki Sankai, Tetsuya Nii and Shinichi Kariya
Institute of Engineering Mechanics, University of Tsukuba, Tsukuba, 305-0006, Japan
We propose an objective parallel computation/control method, developing the following to solve conventional problems and installing a controller on a robot with links decomposed to objects: 1) parallel calculation for twodimensional link dynamics, 2) downsizing of a high-speed controller using a digital signal processor (DSP), 3) a common robot control library, and 4) parallel calculation control of a multilink system. Evaluating parallel computation/control using the DSP, we verified fine compact controller efficiency in real-time control of multi-DOF systems and control performance comparing overall system control by linear quadratic optimal control.