1994 Volume 7 Issue 12 Pages 505-511
A parallel processing scheme is described for dynamic control computation of a robot-arm on any number of parallel processors. The control law for dynamic control of the robot-arm is generally represented by the sum of products. Such a control law usually consists of a huge number of operations. However, some of these operations are redundant and may be reduced by factorization. This paper proposes a practical scheduling algorithm which assigns the operations of the control law to parallel processors considering how many of them could be reduced by factorization.
Based on the proposed algorithm, a scheduling system is also developed by using an object oriented approach (g++). Then, a wonderful effect of the proposed algorithm is demonstrated through examples.