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Sequential and parallel real-time simulation of a flexible manipulator system

Published online by Cambridge University Press:  01 July 1998

M. O. Tokhi ,
M. A. Hossain  and
A. K. M. Azad
M. O. Tokhi
Affiliation:
Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield S1 3JD, UK
M. A. Hossain
Affiliation:
Department of Computer Science, University of Dhaka, Bangladesh
A. K. M. Azad
Affiliation:
Department of Automatic Control and Systems Engineering, The University of Sheffield, Mappin St, Sheffield S1 3JD, UK
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Abstract

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This paper presents an investigation into the utilisation of sequential and parallel processing techniques for the real-time simulation of a flexible manipulator system. A finite dimensional simulation of the system is developed using a finite difference approximation to the governing dynamic equation of the manipulator. The developed algorithm is implemented on a number of uni-processor and multi-processor, homogeneous and heterogeneous, parallel architectures. A comparison of the results of these implementations is made and discussed, on the basis of real-time processing requirements in the simulation and control of flexible manipulator systems.

Keywords

Digital signal processingFinite difference methodParallel processingPerformance evaluationReal-time simulationSequential processing
Type
Research Article
Information
Robotica , Volume 16 , Issue 4 , July 1998 , pp. 445 - 456
Copyright
© 1998 Cambridge University Press