Graduate Thesis Or Dissertation
 

Distributed architecture and fast parallel algorithms in real-time robot control

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https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/ff3657632

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  • Control algorithms for accurate and fast moving robots require the use of the complete dynamic model of the robot. The complete dynamic model takes into account the nonlinearity and coupling terms of the whole structure. The time of computing the dynamic equations determines whether they are usable in practical applications. Reducing the computation time can be achieved by simplifying the dynamic model, simplifying the calculations, and improving the computer's computation speed. The proposed solution is a distributed computer architecture, and new fast parallel algorithms which allow efficient utilization of the computers. This architecture has several advantages: modularity, reliability, spatial distribution, and speed. Because of the serial nature of the dynamic calculations, it is difficult to achieve efficient utilizations of the multiple computers. With the new algorithms, motion, and force values, which must be passed between the computers, are replaced by predicted values. The predicted information is acquired from values calculated in previous sample intervals. This allows efficient use of the computers and increases the computation speed of the control algorithms. The gain in speed approaches the theoretical limit, which is the number of computers used. Analytic error analysis and experimental results have shown that the errors introduced by prediction are relatively small. The algorithms have been used in motion simulations with a simple closed loop feedback control scheme. There were only small differences between the desired and the simulated paths. These algorithms give good results even during rapid movement when other simplified methods failed. The computer architecture and the algorithms presented in this research offer a practical way to implement the control algorithms with relatively inexpensive computing devices.
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