A parallel processing scheme for dynamic control of robotic manipulators

This paper describes a new parallel processing scheme for dynamic control of robotic manipulators. Because the necessary computation of dynamic control laws of robotic manipulators are usually quite heavy for single processor, multiprocessor systems are often adopted to implement digital controllers. The proposed parallel processing scheme is general enough to compute all kind of dynamic control laws of robotic manipulators which are represented by sum of products. A practical scheduling algorithm is also proposed for the parallel processing scheme. The dynamic control laws of robotic manipulators are usually containing a lot of redundant operations. With the scheduling algorithm, those redundant operations can be removed effectively from applying the factorization algorithm which have been already presented by authors in the previous papers