EFFICIENT ROBOT DYNAMICS EVALUATION BASED ON PC USING PARALLEL COMPUTING

摘要

The control of robot manipulators is a complex problem because the differential equation that defines the system is nonlinear and coupled. In several control problems such as linear quadratic optimal control, it is necessary to work with a first order approximation of nonlinear equations. To obtain this approximation, the Lagrange-Euler equations have been used based on general theorems of mechanics. The linearization must be computed on-line, and this is the reason why parallel computing has been used. The parallel algorithms have been implemented on a low cost parallel platform based on a PC plus a board with transputers.