A multiprocessor architecture for robot-arm control
ABDOLLAH KATBAB · Microprocessing and Microprogramming · 1988
Abstract With the development of robot control theory, there has been an increased demand for more efficient robot control implementation schemes. This paper proposes a dataflow multiprocessor system for robot-arm control. The proposed architecture, which is implementable with Transputer microcomputers and the language Occam, computes the applied torques of a multi-link system using the Newton- Euler state space formulation. This architecture explores the maximum parallelism and if it is implemented using 20 MHz Transputers and programmed in Occam, calculates the torque/force input for a six link robot arm fast enough for real time control application. Moreover, if pipelining is utilized, the calculation time is further reduced. Simulation studies have verified the effectiveness of the proposed architecture.