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Memorial University - Electronic Theses and Dissertations 1
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Document Description
Title
Parallel
processing
of
manipulator
dynamics
incorporating
frictional
effects
Author
Dhanaraj
,
Charles.
Description
Thesis
(M.Eng.)
--
Memorial
University
of
Newfoundland.
Date
1990.
Pagination
xiii, 202 leaves : ill.
Subject
Robotics;Manipulators
(Mechanism);Robots--Motion;Parallel
processing
(Electronic
computers);Friction;Real-time
data
processing;
Degree
M.Eng.
Language
Eng
Notes
Bibliography:
leaves
130-135.
Abstract
Real-time
computation
of the
inverse
dynamics
of
robotic
manipulators
is
required
for
ensuring
robust
control.
This
thesis
presents
a
modified
Newton-Euler
algorithm
which
makes
use
of
symbolic
programming
for
improved
computational
efficiency.
A
scheme
for
modeling
the
frictional
effects
at the
joints
as
well
as the
transmissions
for
robotic
mechanisms
is
outlined
with an
illustrative
case-study
for the
PUMA-560
manipulator.
The
algorithm
is
parallelized
using
a
Task
Streamlining
Approach'
-
a
systematic
mapping
scheme
using
layered
task
graphs
to
create
the
list
schedule
and a
simplified
bin-packing
heuristic
algorithm
to
schedule
the
computations
on a
multiprocessor.
The
resulting
computational
load
for
dynamic
torques
without
friction
,
is
only
12n+9
arithmetic
operations
,
where
n
is
the
number
of
links
in the
manipulator
,
indicating
a
promise
for
application
to
precision
robot
control
employing
a
high
sampling
rate.
Type
Text
Resource Type
Electronic
thesis
or
dissertation
Format
Image/jpeg;
Application/pdf
Source
Paper copy kept in the Centre for Newfoundland Studies, Memorial University Libraries
Local Identifier
76072889
Rights
The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission.
Collection
Electronic
Theses
and
Dissertations
Scanning Status
Completed
PDF File
(44.27
MB)
--
http://collections.mun.ca/PDFs/theses2/Dhanaraj_Charles.pdf
CONTENTdm file name
336137.cpd
