Abstract
Abstract Real-time processing in robot dynamic control is known to be difficult because of heavy computational burden. To overcome this difficulty, In this paper, we propose a parallelized robot inverse dynamics algorithm by reconstruction of He's algorithm and implement a robot control system using transputers to show the validity of proposed algorithm for real-time control. Three transputers are used to build a high performance concurrent system and Occam language is used for programming the whole system. For the three axes manipulator, the actual computation time for executing the complete inverse dynamics is within 900 microseconds.
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