Telerobot control and real-time simulation environment using parallel processing

Author

Dodds, G. ; Ogasawara, T. ; Glover, N. ; Kitagaki, K.

Author_Institution

Sch. of Electr. Eng. & Comput. Sci., Queens Univ. of Belfast, UK

Volume

143

Issue

6

fYear

1996

fDate

11/1/1996 12:00:00 AM

Firstpage

543

Lastpage

550

Abstract

Simulation can reduce some of the hardware demands of telerobot systems but, to date, a heavy commitment to computer hardware has been required to produce a real-time response. Parallel processing of a balanced division of the Newton-Euler formulation on transputers is used to perform real-time dynamic simulation for a 7 d.o.f. robot. Comparative times for the transputer and other parallel processors are also given. Practical interfaces are derived for robot hardware, other features of the practical system which are developed include data storage and transferral strategies and also a graphical interface to the user on a PC displaying real-time force and position information. Approaches to the practical difficulties of identification and real-time simulation of complex friction effects are also examined

Keywords

Newton method; digital simulation; graphical user interfaces; microcomputer applications; parallel processing; real-time systems; telerobotics; transputer systems; 7-DOF robot; Newton-Euler formulation; PC; data storage; force information; graphical interface; parallel processing; position information; real-time dynamic simulation; real-time simulation environment; telerobot control; transferral strategies; transputers;

fLanguage

English

Journal_Title

Control Theory and Applications, IEE Proceedings -

Publisher

iet

ISSN

1350-2379

Type

jour

DOI

10.1049/ip-cta:19960805

Filename

579197