Modeling and simulation of robot dynamics using transputer-based architectures

Article Abstract:

Advanced control strategies require the inclusion of the dynamical model of the robot arm in the control law. However, the dynamics consist of a highly coupled and non-linear set of equations. Thus, this complexity has always presented a major obstacle in real-time dynamic control applications. The computationally efficient solution of this problem will lead to a better comprehension of the key factors effecting robot operations. This work describes a solution of this problem by employing a parallel processing approach. The dynamics are computed by using a semi-customized Newton-Euler formulation. The algorithm is distributed over a highly-coupled multiple instruction multiple-data steram (MIMD) computer architecture. The computer system is constructed from general purpose (VLSI) building blocks called the (TRANSPUTER). The cost-effectiveness and speed of the scheme is demonstrated by a case study (PUMA 560 robot arm). The communication issues between the different processors are discussed. Speed-up results are included to show the superiority and advantages of the parallel approach. (Reprinted by permission of the publisher)

Mathematical models, Dynamics (Mechanics), Parallel processing, Robot Arms, Dynamics

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OMEGA: a reconfigurable transputer-based digital simulator

Article Abstract:

This paper describes a high performance digital simulator which is novel both in its design and its implementation. The basic simulator comprises 32 identical processing elements (PEs) interconnected through a global switch in a non-blocking arrangement; each PE is a transputer and support circuitry configured in an unusual way. The processors operate with floating point arithmetic to avoid the problems of scaling, and a frame time of 0.1 msec, irrespective of problem size or complexity. The performance of the simulator has been validated using PEs to realize both linear and non-linear functions in a variety of simulations. (Reprinted by permission of the publisher.)

Technical, Simulation, Floating-Point Arithmetic, Floating point arithmetic, Loops

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Parallel continuous system simulation using the Transputer

Article Abstract:

Parallel processing methods can be used to decrease the solution time of simulation models. Techniques are shown for the parallel solution of a continuous system simulation using digital hardware. Using a new VLSI single chip computer, the TRANSputer, a simple parallel digital computer system is constructed and its performance is evaluated on two example problems. (Reprinted with permission of the publisher.)

Usage, Product information, Very large scale integration, Multiprocessing, Single-Board Computer, Very-Large-Scale Integration, SGS-Thomson Microelectronics Inc. Inmos Div., Inmos T800 Transputer (Microprocessor)

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