Title :
Fast inverse dynamics computation in real-time robot control
Author :
Li, Chang-Jin ; Sankar, T.S.
Author_Institution :
Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada
Abstract :
Two fast computational schemes for robot inverse dynamics are presented. One scheme is designed to implement the inverse dynamics computation for a robot in real-time on a microcomputer with only one processor. In this scheme, two efficient algorithms that are computationally the fastest of all the existing single-processor-based algorithms for the robot inverse dynamics computation are proposed. The scheme is designed to implement in parallel the real-time inverse dynamics computation for a robot on a microcomputer with three processors. The proposed algorithms have been verified by computing the inverse dynamics of a PUMA 560 robot arm with six degrees-of-freedom
Keywords :
control system analysis computing; dynamics; real-time systems; robots; PUMA 560; inverse dynamics computation; real time control; robot; single-processor-based algorithms; Computer networks; Concurrent computing; Hardware; Microcomputers; Parallel algorithms; Parallel robots; Processor scheduling; Robot control; Service robots; Very large scale integration;
Conference_Titel :
Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-87942-600-4
DOI :
10.1109/IECON.1990.149221
