A ROBOT CONTROLLER BASED ON MULTIPLE DIGITAL SIGNAL PROCESSORS

This paper presents a master-slave robot controller which uses multiple high-speed digital signal processors to compute dynamic equations of robot manipulator parallelly. A practical computation scheme of the full dynamic equations is proposed for the controller. For the five degrees-of-freedom articulate mechanical manipulator being studied, with the robot controller the parallel scheme proposed in this paper can reduce computation time and computation interval of the full dynamic equations to 4ms or less. If the pipelined/parallel approach is used, the computation interval can be reduced to 2ms or less.