Computation of customized symbolic robot models on peripheral array processors

Kircanski, N.; Timčenko, A.; Jovanovic, Zeljko; Kirćanski, Manja; Vukobratović, Miomir; Milunov, R.

doi:10.1109/robot.1989.100140

Cited by 6 publications

(5 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Fijany and Bejczy 17 developed two architecture independent parallel algorithms for computing of the manipulator inertia matrix based on composite rigidbody modeling strategy. [19][20][21][22][23][24][25][26][27][28][29][30][31][32][33] The algorithms were mapped to one and two dimensional processor arrays as well as to the perfect shuffle exchange processor architectures. The speedup factors of the algorithms mapped onto two-dimensional arrays were 2.1 and 1.9.…”

Section: B Overview Of Scheduling Strategiesmentioning

confidence: 99%

See 1 more Smart Citation

A contribution to parallelization of symbolic robot models

Kircanski¹,

Davidović²,

Vukobratović³

1995

Robotica

View full text Add to dashboard Cite

SummaryThis paper is focused on task scheduling in multiprocessor robot controllers. To minimize the input-output time delay our consideration is restricted to parallel architectures that include complete crossbar interconnection networks. In this paper, an efficient scheduling algorithm based on a heuristic function is considered. This function takes into account delays caused by interprocessor communication and minimizes both the execution time and the communication cost. Robot control computation based on a highly efficient customized symbolic method is decomposed into a large number of simple tasks, each involving a single floating-point operation. Starting with an empty partial schedule, each step of the search extends the current partial schedule by adding one of the tasks yet to be scheduled. The heuristic function used in the algorithm actively directs the search for a feasible schedule, i.e. it helps choose the task that extends the current partial schedule. To increase the computational rate we introduced overlapping of computations.

show abstract

Section: B Overview Of Scheduling Strategiesmentioning

confidence: 99%

“…Further, a simple algorithm for grouping the parallel operations together will be used. 25 This will allow the computation of the maximum speedup achievable by a parallel computer. 1 "" This will further serve as a reference for estimating the performance of the scheduling algorithm described in this paper.…”

Section: B Overview Of Scheduling Strategiesmentioning

confidence: 99%

A contribution to parallelization of symbolic robot models

Kircanski¹,

Davidović²,

Vukobratović³

1995

Robotica

View full text Add to dashboard Cite

show abstract

“…linearized and sensitivity model generation, • rearranging generated programs into a form suitable for execution on arrayprocessors [37].…”

Section: Sym -An Illustrative Example Of An Advanced Symbolic Softwarmentioning

confidence: 99%

“…Speeding up the computation of manipulator models may be achieved not only by reducing its internal numerical complexity, but also introducing parallelisms into model computation• We have developed a scheduling algorithm [37] which rearranges the manipulator's symbolic model into a form suitable for programming an arrayprocessor of an arbitrary structure. The array processor's structure is defined by three parameters: the number of floating point adders and multipliers working in parallel, and the number of pipelined stages which define a delay transfer operation from and to the memory.…”

Section: Rearranging a Model For An Array Processormentioning

confidence: 99%

Symbolic modeling in robotics: Genesis, applicaton, and future prospects

Kircanski

Vukobratović

Timčenko

et al. 1993

J Intell Robot Syst

View full text Add to dashboard Cite

Abstract. This survey article gives an overview of software packages for generating numerically efficient manipulator models in symbolic form, i.e. as computer programs written in a high-level language such as C or FORTRAN. We chronicle the history of computational robot dynamics and, to some extent, multibody systems dynamics. We survey several mechanical computer-aided engineering software packages because they have charted the course for symbolic robot modeling software. The attractive features of various programs regarding areas of application (vehicles, robots, satellites, etc.) and design possibilities (kinematic and dynamic analysis, modal analysis, optimization of mechanical design, numerical efficiency of generated symbolic models, etc.) are emphasized. Finally, as an example, we present the SYM program package in more detail and point out the new strategic area of robotics which has emerged during the last two years: computer-aided generation of control laws.

show abstract

“…The speeding up the computation of manipulator models may be achieved not only by reducing its internal numerical complexity, but also introduction parallelism in model computation. We have developed a scheduling algorithm 11 which rearranges the manipulator's symbolic model into a form suitable for programming an array-processor of arbitrary structure. The array processor's structure is defined by 3 parameters: Number of floating point adders and multipliers working in parallel, and number of pipelined stages which define delays of transfer operations from and to memory.…”

Section: Rearranging a Model For An Array Processormentioning

confidence: 99%

SYM-program environment for manipulator modeling, control and simulation

et al. 1992

View full text Add to dashboard Cite

SUMMARYThis paper describes the structure of the program package for manipulator modeling, control law synthesis and simulation SYM. While the underlying algorithms have been explained elsewhere, this paper puts emphasis on SYM as a program environment with both research and educational purposes. The control law synthesis in symbolic form, as well as system simulation, are given in more details since those features have been introduced into SYM recently. As an illustration we present few instances of SYM outputs which depict main steps in manipulator control system creation process: manipulator structure as a 3D scheme, control law definition form and system simulation results as 2D plots.

show abstract

Computation of customized symbolic robot models on peripheral array processors

Cited by 6 publications

References 12 publications

A contribution to parallelization of symbolic robot models

A contribution to parallelization of symbolic robot models

Symbolic modeling in robotics: Genesis, applicaton, and future prospects

SYM-program environment for manipulator modeling, control and simulation

Contact Info

Product

Resources

About