Design Constraints in Implementing Real-time Algorithms for a Flexible Manipulator System

  • M. A. Hossain
  • M. N. H. Siddique
  • M. O. Tokhi
  • M. S. Alam
Conference paper


This paper presents an investigation into the design constraints of the algorithm of a flexible manipulator system for real-time implementation. A dynamic simulation algorithm of a single link manipulator system using finite difference (FD) method is considered to demonstrate the critical real-time design and implementation issues. The simulation algorithm is analyzed, designed in various forms and implemented to explore the impact. Finally, a comparative real-time computing performance of various forms of the algorithms is presented and discussed to demonstrate the merits of different design mechanisms through a set of experiments.


Algorithm design real-time computing flexible manipulator finite difference simulation 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • M. A. Hossain
    • 1
  • M. N. H. Siddique
    • 2
  • M. O. Tokhi
    • 3
  • M. S. Alam
    • 3
  1. 1.Department of ComputingUniversity of BradfordBradford
  2. 2.School of Computing and Intelligent SystemsUniversity of UlsterUlster
  3. 3.Department of Automatic Control and Systems EngineeringUniversity of SheffieldSheffield

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