知能ロボット制御用再構成可能並列プロセッサの並列プログラミング

概要

論文の詳細を見る
In the sensor feedback control of intelligent robots, the delay time must be reduced for a large number of multioperand multiply-additions. To reduce the delay time, recofigurable parallel processors have been proposed. Since the direct connections between multiplers and adders can be dynamically changed every program step, the overhead for data transfer becomes greatly reduced. In this paper, we show the easiness of parallel programming for intelligent robot control, which is based on the reconfigurable parallel processor architecture. By using the developped programming environment, the performance evaluation shows the delay time for dynamic control of 6 degrees of freedom manipulator is reduced to about 1/4 in comparison with that of the parallel processor using several digital signal processors.
八戸工業大学の論文
1998-03-31