Parallel Processing of Robot Control and Simulation

  • Hironori Kasahara
Part of the Microprocessor-Based Systems Engineering book series (ISCA, volume 6)


This chapter describes parallel processing of robot-arm control computation and simulation. The parallel processing of robot control computation has attracted much attention to develop a cost-effective, compact, and advanced robot controller which allows a robot system to perform very complicated operations quickly and accurately even in hazardous environments, such as space and ocean floor. Also, parallel processing of robot motion simulation is important to efficiently develop the advanced robot hardwares and the controllers. This chapter introduces several parallel processing schemes on multiprocessor systems for the robot-arm control computation and the robot-arm simulation. More concretely, first of all, parallel processing schemes for the Newton-Euler equations for dynamic control are introduced. Secondly, how to implement the schemes on an actual multiprocessor system is discussed. Thirdly, parallel processing schemes for Walker & Orin’s algorithm for dynamics simulation and an implementation of the schemes on a multiprocessor system are described. Finally, future directions of the parallel processing of the robot control and simulation are briefly discussed.


Parallel Processing Task Graph Multiprocessor System Robot Joint Synchronization Overhead 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Bahren, J., Toomarian, N. and Protopopescu, V. (1987), “Optimization of the computational load of a hypercube supercomputer onboard a mobile robot,” Applied Optics, Vol 26,No 23, pp 5007–5014.CrossRefGoogle Scholar
  2. Coffman, E. G.(1976), “Computer and Job-shop Scheduling Theory” New York: Wiley.zbMATHGoogle Scholar
  3. Fijany, A. and Bejczy, K. (1989a), “Parallel algorithms and Architecture for Computation of Manipulator Inverse Dynamics”, Proc. Workshop on Parallel Algorithms and Architectures in Robotics of 1989 IEEE Int. Conf. on Robotics and Automation.Google Scholar
  4. Fijany, A. and Bejczy, A. K.(1989b) “A Class of Parallel Algorithms for Computation of the Manipulator Inertia Matrix,” IEEE Trans. Robotics & Auto., Vol. RA-5,No. 5, pp.600–615, Oct. 1989.CrossRefGoogle Scholar
  5. Gajski, D. D. and Peir, J. K.(1985) “Essential issues in multiprocessor systems,” Computer, Vol 18,No 6, pp 9–27.CrossRefGoogle Scholar
  6. Garey, M. R. and Johnson, D S,(1979) “Computers and Intractability: A Guide to the Theory of NP-Completeness” San Francisco: Freeman.zbMATHGoogle Scholar
  7. Hwang, K. and F. A. Briggs,(1984),”Computer Architecture and Parallel Processing,” McGRAW-HILL.Google Scholar
  8. Kasahara, H. and Narita, S. (1984a), “Practical multiprocessor scheduling algorithms for efficient parallel processing,” IEEE Trans. Comput. Vol C-33,No 11, pp 1023–1029.CrossRefGoogle Scholar
  9. Kasahara, H. and Narita, S.(1984b), “Load distribution among real-time control computers connected via communication media,” Proc. IFAC 9th World Congress, Pergamon Press: Oxford.Google Scholar
  10. Kasahara, H. and Narita, S.(1985a), “Parallel processing of robot arm control computation on a multimicroprocessor system,” IEEE J. of Robotics and Automation, Vol RA-1,No 2, pp 104–113.CrossRefGoogle Scholar
  11. Kasahara, H. and Narita, S.(1985b) “An approach to supercomputing using multiprocessor scheduling algorithms,” Proc. IEEE 1st Int. Conf. on Supercomputing Systems, pp 139–148.Google Scholar
  12. Kasahara, H., Fujii, H. and Iwata, M.(1987), “Parallel processing of robot motion simulation,” Proc. 10th World Congress, Pergamon Press: Oxford.Google Scholar
  13. Kasahara, H., Honda, H., Narita S.,(1990), “Parallel Processing of Near Fine Grain Tasks Using Static Scheduling on OSCAR (Optimally scheduled Advanced multiprocessoR)”, Proc. IEEE ACM Supercomputing’90.Google Scholar
  14. Kruatrachue, B. and Lewis, T. (1988), “Grain size determination for parallel processing,” IEEE Software, No 1, pp23–32.CrossRefGoogle Scholar
  15. Lathrop, R. H.(1985), “Parallelism in manipulator dynamics,” Int. J. of Robotics Research, Vol 3, pp 80–102.CrossRefGoogle Scholar
  16. Liao, F. Y. and Chern, M. Y.(1985), “Robot manipulator dynamic computation on a VLSI array processors,” Proc. 1st IEEE Int. Conf. on Supercomputing Systems, pp 116–121.Google Scholar
  17. Luh, J.Y.S., Walker, M.W. and Paul, R.P.C.(1980), “On-line computational scheme for mechanical manipulators,” ASME J. Dynamic Syst., Meas., Contr., Vol 102,No 6, pp 69–79.MathSciNetCrossRefGoogle Scholar
  18. Luh, J.Y.S. and Lin, C. S.(1983), “Scheduling of parallel computer for a computer controlled mechanical manipulator,” IEEE Trans. SMC, Vol. 12, No 2, pp 214–234.Google Scholar
  19. Nigan R. and Lee, C. S. G.(1985), “A Multiprocessor-Based Controller for the Control of Mechanical Manipulators,” IEEE J. Robotics and Automation, Vol RA-1,No 4, pp 173–182.CrossRefGoogle Scholar
  20. Orin, D. E., Chao, H. H., Olson, K. W. and Schrader, W. W. (1985), ”Pipeline / parallel algorithms for the Jacobian and inverse dynamics computations,” Proc. 1985 IEEE Int. Conf. on Robotics and Automation, pp 785–789.Google Scholar
  21. Orin, D. E.(1984), “Pipelined approach to inverse plant plus Jacobian control of robot manipulators,” Proc. IEEE Int. Conf. Robotics pp 169–175.Google Scholar
  22. Padua, D. A, Kuck, D.J. and Lawrie, D. H.(1980) “High-speed multiprocessors and compilation techniques,” IEEE Trans. Comput., Vol C-29,No 9 pp 763–776.CrossRefGoogle Scholar
  23. Padua, D.A. and Wolfe, M.(1986),”Advanced Compiler Optimization for Supercomputers,” C.ACM, Vol.29,No. 12, pp.1184–1201.CrossRefGoogle Scholar
  24. Vukobratovic, M. K., Kircanski, N. M. and Lee, S. G.(1987), “An approach to parallel processing of dynamic robot models,” Proc. 10th World Congress, Pergamon Press: Oxford.Google Scholar
  25. Walker, M. W. and Orin, D. E.(1981), “Efficient dynamic computer simulation of robotic mechanism,” Proc. Jt. Automatic Control Conf.Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 1991

Authors and Affiliations

  • Hironori Kasahara
    • 1
  1. 1.Department of Electrical EngineeringWaseda UniversityTokyo, 169Japan

Personalised recommendations