Design Constraints in Implementing Real-time Algorithms for a Flexible Manipulator System

摘要

This paper presents an investigation into the design constraints of the algorithm of a flexible manipulator system for real-time implementation. A dynamic simulation algorithm of a single link manipulator system using finite difference (FD) method is considered to demonstrate the critical real-time design and implementation issues. The simulation algorithm is analyzed, designed in various forms and implemented to explore the impact. Finally, a comparative real-time computing performance of various forms of the algorithms is presented and discussed to demonstrate the merits of different design mechanisms through a set of experiments.