Title :
A transputer based forward and inverse dynamics solution for flexible planar manipulators
Author :
Sauer, Piotr ; Wróblewski, Waldemar ; Kozlowski, Krzysztof
Author_Institution :
Dept. of Control, Robotics & Comput. Sci., Tech. Univ. Poznan, Poland
Abstract :
The paper presents a mathematical model describing the dynamics of flexible planar manipulators. The model was built using the finite element method. The presented algorithm was first implemented in a single-processor system and was constructed using object oriented programming. In this paper, a form of the object matrix and its use in this algorithm are presented. The dynamics algorithm was then implemented in a multiprocessor system after modification, which subdivides the problem into several tasks
Keywords :
control system analysis; control system synthesis; digital control; finite element analysis; flexible structures; manipulator dynamics; matrix algebra; object-oriented programming; transputers; algorithm; control design; control simulation; finite element method; flexible planar manipulators; forward dynamics solution; inverse dynamics solution; multiprocessor system; object matrix; object oriented programming; single-processor system; transputer control; Acceleration; Computer science; Equations; Finite element methods; Lagrangian functions; Manipulator dynamics; Mathematical model; Object oriented modeling; Object oriented programming; Robot kinematics;
Conference_Titel :
Industrial Electronics, 1995. ISIE '95., Proceedings of the IEEE International Symposium on
Conference_Location :
Athens
Print_ISBN :
0-7803-7369-3
DOI :
10.1109/ISIE.1995.496637
