Parallel processing of manipulator dynamics incorporating frictional effects

Dhanaraj, Charles. (1990) Parallel processing of manipulator dynamics incorporating frictional effects. Masters thesis, Memorial University of Newfoundland.

[English] PDF (Migrated (PDF/A Conversion) from original format: (application/pdf)) - Accepted Version Available under License - The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. Download (6MB) [English] PDF - Accepted Version Available under License - The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. (Original Version)

Abstract

Real-time computation of the inverse dynamics of robotic manipulators is required for ensuring robust control. This thesis presents a modified Newton-Euler algorithm which makes use of symbolic programming for improved computational efficiency. A scheme for modeling the frictional effects at the joints as well as the transmissions for robotic mechanisms is outlined with an illustrative case-study for the PUMA-560 manipulator. The algorithm is parallelized using a Task Streamlining Approach' - a systematic mapping scheme using layered task graphs to create the list schedule and a simplified bin-packing heuristic algorithm to schedule the computations on a multiprocessor. The resulting computational load for dynamic torques without friction, is only 12n+9 arithmetic operations, where n is the number of links in the manipulator, indicating a promise for application to precision robot control employing a high sampling rate.

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