Distributed robot control on transputer network
作者:
A.M.S.Zalzala,
A.S.Morris,
期刊:
IEE Proceedings E (Computers and Digital Techniques)
(IET Available online 1991)
卷期:
Volume 138,
issue 4
页码: 169-176
年代: 1991
DOI:10.1049/ip-e.1991.0023
出版商: IEE
数据来源: IET
摘要:
The minimum-time control of robot arms has usually been implemented as a two-task procedure, where the appropriate trajectory planning is performed off-line, and then tracking is carried out on-line to achieve the desired motion. However, such an approach is unacceptable whenever the motion is dependent on the on-board sensory equipment operated during the application. In the paper, an on-line trajectory generator is described in which the history of motion is planned and executed in real time. The computational complexities of the minimum-time requirements of the motion have been reduced significantly by distributing the proposed algorithm on a multiprocessor system. The practical implementation of the distributed system on a T800 transputer network shows its efficiency in accomplishing the required task. Real-time simulation results are reported for a PUMA 560 robot manipulator.
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