An Approach to Parallel Processing of Dynamic Robot Models

Abstract A new parallel processing algorithm for “on-line” computation of dynamic robot models is presented. Given a searching radius, we modified the standard “branch-bound” method combining it with LPF (Largest Processing Time First) algorithm. A special attention is paid to the stop-condition based on the estimated minimal execution time of a given task. Further, a boundary of the execution time of a suboptimal solution is determined. The searching process stops when the execution time of current solution is shorther than this boundary time. We applied the developed parallel processing algorithm to the computation of dynamic robot equations in analytical form. These equations can be automatically obtained by the use of computer, as described in our previous papers (1983, 1985a, 1985b). The algorithm is illustrated on PUMA and STANFORD manipulators

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