Abstract
The computation of the dynamics plays a major role in many real-time robotic applications. The dynamics consist of a set of complex formulations that need to be computed at high sampling rates (i.e. hundreds or thousands of times) to facilitate real-time applications. This paper presents an inexpensive and efficient solution to this problem which employs networks of parallel processors. The dynamic equations are first functionally decomposed into a set of simple computational tasks. Then, the resulting tasks are distributed, via a suitable scheduling scheme, onto networks of parallel processors. The networks are constructed using general purpose T800 transputer chips. The speed and efficiency of the proposed method are demonstrated by a case study.
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