Abstract

Our aim is to have a high speed and effective control strategy for nonlinear systems such as an inverted pendulum or a robot link system or a legged locomotion robot. The control method by using inverse dynamics compensation is used for controlling of nonlinear systems. But the increase of degrees of freedom would be too much time consuming for calculations of the inverse dynamics. In this paper, we proposed a parallel computing method and control strategies for dynamic systems,especially, nonlinear systems. We tried to develop a DSP based parallel computation and control method and a small DSP unit for installation. The DSP parallel computation enables to realize a high speed calculation of the inverse / forward dynamics. Every module has same calculation routine and can adopt parallel LQ controller proposed in this research. The size of a small DSP unit constructed in our laboratory is (5cm × 6cm).

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