Abstract
This paper presents an investigation into the utilisation of digital signal processing and parallel processing techniques for the real-time simulation of a flexible manipulator system. A finite dimensional simulation of the system is developed using a finite difference approximation to the governing dynamic equation of the manipulator. The proposed algorithm allows dynamic modification of the boundary conditions and the inclusion of a distributed actuator and sensor term in the system dynamic equation. The algorithm developed is implemented on a number of uni-processor and multi-processor, homogeneous and heterogeneous parallel architectures. The partitioning and mapping of the algorithm on the homogeneous and heterogeneous architectures is also explored. A comparison of the results of these implementations in made and discussed to establish merits of design and real-time processing requirements in the control of flexible manipulator systems.
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