ロボットの動的制御における計算の並列化アルゴリズムとオブジェクト指向による実現

抄録

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.