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以PUMA560机器人的分解牛顿-欧拉反向动力学方程为模型,提出了方程分解的原则,由此得到AOE(ActivityOnEdge)有向图.以此为基础,按照深度和时差的概念建立了L-W优先表,并导出了一种启发式的调度算法.该算法在微处理机个数一定的情况下,可得到最小调度时间.最后,以Stanford机器人的递推牛顿一欧拉反向动力学方程为例,说明了该算法的有效性.
Based on the decomposed Newton-Euler inverse kinematics equation of PUMA560 robot, the principle of equation decomposition is proposed, and the AOE (ActivityOnEdge) directed graph is obtained. Based on this, the L-W priority table is established according to the concept of depth and time difference, and a heuristic scheduling algorithm is derived. The algorithm in the case of a certain number of microprocessors, you can get the minimum scheduling time. Finally, taking Stanford robot’s recursive Newton-Euler inverse kinematics equation as an example, the effectiveness of this algorithm is demonstrated.