A control structure is considered for decoupling and linearizing the dynamic behavior of a robotic manipulator. Since computational efficiency is a crucial consideration in implementation of this control system, a fast recursive algorithm is presented for the necessary digital computations, and the computational requirements are studied in terms of the number of degrees of freedom of a general and open-chain robotic manipulator. An important feature of the algorithm is that decoupling is realized without employing matrix inversion. The sequential recursive algorithm is restructured into a parallel algorithm. A significant improvement in the computational speed is achieved in this manner. The computing requirements of the parallel algorithm are compared with those of the serial algorithm. For a six-degrees-of-freedom robot, the computational cost of the parallel algorithm is approximately 23 % of that of the original serial algorithm. Finally, the processor loads in some regions of the parallel algorithm are redistributed to achieve a balanced scheme. The resulting parallel algorithm requires approximately 17% of the computational effort of the serial algorithm, for a six-degrees-of-freedom robot.
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de Silva, C.W. Recursive linearizing and decoupling control of robots. Dynamics and Control 2, 401–414 (1992). https://doi.org/10.1007/BF02172224
- Control System
- Computational Cost
- Dynamic Behavior
- Computational Effort
- Control Structure