Abstract
The complexity of computing the generalized forces or torques acting at the joints of a robot manipulator with n degrees of freedom directly effects the speed and accuracy of control. For real-time robust control, the large number of mathematical computations performed must satisfy the speed requirements and must also be error-free. In this paper, a combination of parallel and distributed processing techniques are proposed to compute the generalized forces using the Lagrangian formulation. The complexity of computation is reduced from the order θ( n 3) to θ( n). It is shown that with minor modification in the architecture, all single errors that occur during computation can be detected, located, and corrected for robust control.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
