Abstract
The inverse dynamics control of robot manipulators is based on the application of a nonlinear feedback control law. The implementation of this control requires the computation of all the terms of the dynamic equation at each sample instant. In order to solve this problem, distributed memory parallel algorithms using the Lagrange-Euler formulation are presented. This formulation permits us to establish matrix structures that are distributed among the processors by rows with a good computational load balance. A new Windows interface, called WinServer, based on transputers, which permits us to modify the robot parameters and to simulate the dynamic equation is also presented. This interface can be used as a monitoring tool that allows the user to know the situation of the different processes.
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© 1997 Springer-Verlag Berlin Heidelberg
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Fernández, J.C., Peñalver, L., Sobejano, M., Martínez, J., Hernández, V., Tornero, J. (1997). An interface based on transputers to simulate the dynamic equation of robot manipulators using parallel computing. In: Palma, J.M.L.M., Dongarra, J. (eds) Vector and Parallel Processing — VECPAR'96. VECPAR 1996. Lecture Notes in Computer Science, vol 1215. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-62828-2_130
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DOI: https://doi.org/10.1007/3-540-62828-2_130
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