대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

복수의 CPU로 제어되는 매니퓰레이터의 병렬계산 알고리즘

Algorithm or Parallel Computation for a multi-CPU controlled Robot Manipulator

  • 우광방 (연세대학교 대학원 전기공학과) ;
  • 김현기 (연세대학교 대학원 전기공학과) ;
  • 최규석 (연세대학교 대학원 전기공학과)
  • Woo, Kwang-Bang (Department of Electrical Eng., Graduate School of Yonsei University) ;
  • Kim, Hyun-Ki (Department of Electrical Eng., Graduate School of Yonsei University) ;
  • Choi, Gyoo-Suck (Department of Electrical Eng., Graduate School of Yonsei University)
  • 발행 : 1987.07.03
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초록

The purpose of this paper is to develope the parallel computation algorithm that enables it to minimize the completion tine of computation execution of the entire subtasks, under the constraints of the series-parallel precedence relation in each subtask. The developed algorithm was applied to the control of a robot manipulator functioned by multi-CPU's and to obtain the minimum time schedule so that real time control may be achieved. The completion time of computation execution was minimized by applying "Variable" Branch and Bound algorithm which was developed In this paper in determining the optimum ordered schedule for each CPU.

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