Parallel computing of robot coordinate transformations by minimal number of processors

• Jorge Buezo ^[1] ; M. Mercedes Pérez Castellanos ^[1] ; José E. No ^[2]
  1. [1] Universidad Politécnica de Madrid

     Universidad Politécnica de Madrid

     Madrid, España

     
  2. [2] Instituto de Automática Industrial
• Localización: Mini and Microcomputers and their applications / Emilio Luque Fadón (ed. lit.), 1988, págs. 634-636
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • This paper shows the form of determining the sutitable number of processors that, working in parallel, compute thekinematics direct model of any manipulator of open loop mechanical chain type.

    This suitable number of processors, is determined according to a trade-off between the time to compute the model and the cost of the used processors.

    The followed steps are: simplification and splitting [...]