Development of the parallel algorithm for dynamic control system of a manipulation robot

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Abstract


In this article the calculable-intensive algorithms of direct and reverse decision of the task dynamics of manipulation robot were considered. To accelerate the task computation the heuristic multiprocessor system model was proposed. Parallel algorithms and processor structures were integrated in the decision model of direct and reverse dynamics tasks which has the common memory blocks. These processor structures were illustrated. The system was simulated for the direct and reverse dynamics tasks. The estimates of the computation acceleration and the changes in the system cost were obtained.

A A Vnukov

Peoples' Friendship University of Russia

Кафедра кибернетики и мехатроники; Российский университет дружбы народов (РУДН); Peoples' Friendship University of Russia

M V Semikov

Peoples' Friendship University of Russia

Кафедра кибернетики и мехатроники; Российский университет дружбы народов (РУДН); Peoples' Friendship University of Russia

D A Trenin

Moscow State Institute of Electronics and Mathematics(Technical University)

Кафедра математического обеспечения систем обработки информации и управления; Московский государственный институт электроники и математики (МИЭМ); Moscow State Institute of Electronics and Mathematics(Technical University)

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Copyright (c) 2008 Внуков А.А., Семиков М.В., Тренин Д.А.

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