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A parallel processing scheme is described for dynamic control computation of a robot-arm on any number of parallel processors. The control law for dynamic control of the robot-arm is generally represented by the sum of products. Such a control law usually consists of a huge number of operations. However, some of these operations are redundant and may be reduced by factorization. This paper proposes a practical scheduling algorithm which assigns the operations of the control law to parallel processors considering how many of them could be reduced by factorization.Based on the proposed algorithm, a scheduling system is also developed by using an object oriented approach (g++). Then, a wonderful effect of the proposed algorithm is demonstrated through examples.

Parallel Processing Scheme for Dynamic Control of Robot Arm and Realization by Using Object Oriented Approach