Robot Objective Parallel Calculation and Real-time Control Using a Digital Signal Processor | Zendy

Yoshiyuki Sankai | Zendy; Tetsuya Nii | Zendy; Shinichi Kariya | Zendy

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Robot Objective Parallel Calculation and Real-time Control Using a Digital Signal Processor

Author(s) -

Yoshiyuki Sankai,

Tetsuya Nii,

Shinichi Kariya

Publication year - 1998

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1998.p0505

Subject(s) - digital signal processing , digital signal processor , controller (irrigation) , computation , computer science , robot , control system , parallel manipulator , motion control , real time control system , digital control , digital signal , signal (programming language) , control theory (sociology) , robot control , control engineering , control (management) , mobile robot , computer hardware , engineering , artificial intelligence , algorithm , electronic engineering , programming language , electrical engineering , agronomy , biology

We propose an objective parallel computation/control method, developing the following to solve conventional problems and installing a controller on a robot with links decomposed to objects: 1) parallel calculation for twodimensional link dynamics, 2) downsizing of a high-speed controller using a digital signal processor (DSP), 3) a common robot control library, and 4) parallel calculation control of a multilink system. Evaluating parallel computation/control using the DSP, we verified fine compact controller efficiency in real-time control of multi-DOF systems and control performance comparing overall system control by linear quadratic optimal control.

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