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Transputer-based dataflow multiprocessor for robot arm control

Authors
Journal
Microprocessors and Microsystems
0141-9331
Publisher
Elsevier
Publication Date
Volume
13
Issue
3
Identifiers
DOI: 10.1016/0141-9331(89)90129-4
Keywords
  • Multiprocessors
  • Robots
  • Realtime Control
  • Transputers
  • Occam
Disciplines
  • Engineering

Abstract

Abstract A transputer-based dataflow multiprocessor system for robot arm control is presented. The proposed architecture computes the applied torques of a multilink system using the Newton-Euler state space formulation. Simulation studies have verified the effectiveness of the proposed architecture by producing execution times that are fast enough for realtime control application. The architecture, which explores the maximum parallelism, consists of 1834 processing elements and, if implemented using 20 MHz transputers and programmed in OCCAM, calculates the torque for a six-link system in 1.58 ms. Reasonable engineering solutions consisting of fewer processing elements are also discussed.

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