Generation of a Parallel Computing Platform for a Distributed Manipulation Environment

Abstract The concept of a Distributed Manipulation Environment (DME) proposes a novel approach for a simple distributed robotics in the manufacturing systems. A general, modular, flexible, object-oriented, and mathematically sound model has been developed to define the structure, initial computing platform and the task associated with a DME. Using an Automatic Model Generator (AMG), this model is transformed into an optimized parallel Computing Platform (CP) controlling the DME. The generated model offers a system without the shortcomings inherent in the computing system required in the distributed control of a manufacturing system. It also provides information on the structure of the system from the basic building blocks and high-level entities down to the lowest level of hardware and software elements and their requirements. The paper presented describes the characteristics of the developed model and the model generator. It also addresses issues associated with the implementation of the model on transputers and proposes the Transputer Message Routing Exchange (TMRE) technique to overcome the deficiency resulting from the limited number of transputer links.