Speeding up of the joint angle calculation of robot manipulators by using a multi-microprocessor.

概要

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A multi-microprocessor system to calculate the joint angles of a 6 axis manipulator from the handposition and orientation is discussed. The system is composed of one personal computer (6809) and seven Z 80 CPUs accompanied with APUs. It has common memories whose access time is very short and a circuit to synchronize the CPUs against the variation of task processing time.The system performs the parallel processing of MIMD (Multiple Instruction stream and Multiple Data stream) type.<BR>A method to improve the joint angle calculation so as to be easily performed by parallel processing is proposed. A heuristic scheduling method for task processing which is easily performed even by the personal computer is also proposed.<BR>It is verified that the calculation of the joint angles is performed with the computing time of 3.3 ms by the proposed system and methods while it takes 20ms by a CPU and a APU in an ordinary method.
一般社団法人日本ロボット学会の論文