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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
Received:August 4, 1998Accepted:November 14, 1998Published:December 20, 1998
Keywords:Objective parallel calculation, Objective parallel control, DSP, Real-time control, Multilink system
Abstract
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.
Cite this article as:Y. Sankai, T. Nii, and S. Kariya, “Robot Objective Parallel Calculation and Real-time Control Using a Digital Signal Processor,” J. Robot. Mechatron., Vol.10 No.6, pp. 505-514, 1998.Data files:
