A REAL-TIME SYSTEM FOR ROBOT MANIPULATOR INVERSE DYNAMICS COMPUTATION

Abstract

A new robot manipulator inverse dynamics computational algorithm is announced. The novel feature resides in the computations which are a blend of ordinary and Boolean algebra. As such, this method may also be interpreted as a dedicated compiler that optimizes the on-line computing time at expenses of the off-line stage. Nevertheless, the high off-line requirements are alleviated, through the derivation of some general rules that stem from the structure of the robot manipulator equations. Moreover, the on-line computing time is further optimized through the use of Binary Decision Diagrams. The results show a considerable computational improvement on a conventional sequential machine. Furthermore, they clearly point out new computational parallel architectures, without scheduling problems, and where performance improvement is proportional to the number of processors. Finally, it is observed that the proposed algorithm is not restricted to robot inverse dynamic computations, but is also applicable to many other real-time computing structures.