{"title":"基于TMS320C25处理器网络的机械臂运动牛顿-欧拉方程并行处理","authors":"H. Palaz, F. Kurugollu, I. O. Bucak","doi":"10.1109/ISIE.1993.268781","DOIUrl":null,"url":null,"abstract":"The development of a real-time advanced dynamic robot arm controller which is cost-effective, compact and flexible is described for a six joint arm. It utilizes IBM PC-AT as a host computer and was configurated with up to seven digital signal processors. First, the controller interprets high-level control commands from the IBM PC-AT and performs a robot arm control computation based on the Newton-Euler equations which are known to be the most efficient algorithm for multiprocessor systems. Implementation of a parallel algorithm of the dynamic control law based on Newton-Euler formulation is proposed on the PARADISE multiprocessor system. The design of hardware and software for the controller is discussed in more detail.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"36 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Parallel processing of the Newton-Euler equations of robot arm motion on a network of TMS320C25 processors\",\"authors\":\"H. Palaz, F. Kurugollu, I. O. Bucak\",\"doi\":\"10.1109/ISIE.1993.268781\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The development of a real-time advanced dynamic robot arm controller which is cost-effective, compact and flexible is described for a six joint arm. It utilizes IBM PC-AT as a host computer and was configurated with up to seven digital signal processors. First, the controller interprets high-level control commands from the IBM PC-AT and performs a robot arm control computation based on the Newton-Euler equations which are known to be the most efficient algorithm for multiprocessor systems. Implementation of a parallel algorithm of the dynamic control law based on Newton-Euler formulation is proposed on the PARADISE multiprocessor system. The design of hardware and software for the controller is discussed in more detail.<<ETX>>\",\"PeriodicalId\":267349,\"journal\":{\"name\":\"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings\",\"volume\":\"36 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1993-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIE.1993.268781\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIE.1993.268781","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Parallel processing of the Newton-Euler equations of robot arm motion on a network of TMS320C25 processors
The development of a real-time advanced dynamic robot arm controller which is cost-effective, compact and flexible is described for a six joint arm. It utilizes IBM PC-AT as a host computer and was configurated with up to seven digital signal processors. First, the controller interprets high-level control commands from the IBM PC-AT and performs a robot arm control computation based on the Newton-Euler equations which are known to be the most efficient algorithm for multiprocessor systems. Implementation of a parallel algorithm of the dynamic control law based on Newton-Euler formulation is proposed on the PARADISE multiprocessor system. The design of hardware and software for the controller is discussed in more detail.<>
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