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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
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

Abstract

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.


Type
Research Article
Copyright
© 1998 Cambridge University Press

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