IMPLEMENTATION AND EXPERIMENTAL-STUDY OF A MULTIPROCESSOR SYSTEM FOR REAL-TIME MODEL-BASED ROBOT MOTION CONTROL

被引：3
|
作者：
WANG, WS
LIU, CH
机构：
[1] Department of Electrical Engineering, National Taiwan Institute of Technology, Taipei, Taiwan
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 1994年 / 41卷 / 02期
关键词：
D O I：
10.1109/41.293876
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the design and implementation of a multiprocessor system for real-time robot motion control. Full inverse dynamics compensation control laws in both joint and Cartesian spaces are used for developing parallel computation algorithms. The algorithms are divided into subtasks which are distributed among a fixed number of processors based on heuristic scheduling algorithms. The control laws are real-time tested on an experimental robot. The results present a feasible way for improving controller performance of current industrial robots.
引用
收藏
页码：163 / 172
页数：10
相关论文
共 50 条
  • [1] The real-time implementation of a model-based measurement technique on a multiprocessor instrument
    Bucci, G
    Germano, A
    Landi, C
    [J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 1996, 45 (01) : 238 - 243
  • [2] A real-time model-based human motion analysis system
    Huang, CL
    Chung, CY
    [J]. 2003 INTERNATIONAL CONFERENCE ON MULTIMEDIA AND EXPO, VOL II, PROCEEDINGS, 2003, : 477 - 480
  • [3] Model-Based Implementation of Real-Time Systems
    Sacha, Krzysztof
    [J]. COMPUTER SAFETY, RELIABILITY, AND SECURITY, PROCEEDINGS, 2008, 5219 : 332 - 345
  • [4] MULTIPROCESSOR CONTROL OF A REAL-TIME SYSTEM
    KAWADA, K
    ITOH, Y
    MORIMOTO, T
    OHMINAMI, M
    [J]. REVIEW OF THE ELECTRICAL COMMUNICATIONS LABORATORIES, 1978, 26 (1-2): : 12 - 23
  • [5] Implementation of Robot Control Algorithms by Real-Time Control System
    Viliam, Fedak
    Frantisek, Durovsky
    Robert, Uveges
    Kyslan, Karol
    Milan, Lacko
    [J]. INTERNATIONAL JOURNAL OF ENGINEERING RESEARCH IN AFRICA, 2015, 18 : 112 - 119
  • [6] Model-based testing of a real-time adaptive motion planning system
    Abdelgawad, Mahmoud
    McLeod, Sterling
    Andrews, Anneliese
    Xiao, Jing
    [J]. ADVANCED ROBOTICS, 2017, 31 (22) : 1159 - 1176
  • [7] Model-based real-time control of a magnetic manipulator system
    Damsteeg, Jan-Willem
    Nageshrao, Subramanya P.
    Babuska, Robert
    [J]. 2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2017,
  • [8] RTMBA: A Real-Time Model-Based Reinforcement Learning Architecture for Robot Control
    Hester, Todd
    Quinlan, Michael
    Stone, Peter
    [J]. 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2012, : 85 - 90
  • [9] Local Gaussian Process Regression for Real-time Model-based Robot Control
    Nguyen-Tuong, Duy
    Peters, Jan
    [J]. 2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 2008, : 380 - 385
  • [10] Model-Based Implementation of Parallel Real-Time Systems
    Triki, Ahlem
    Combaz, Jacques
    Bensalem, Saddek
    Sifakis, Joseph
    [J]. FUNDAMENTAL APPROACHES TO SOFTWARE ENGINEERING, FASE 2013, 2013, 7793 : 235 - 249
12345