REAL-TIME COMPUTATIONAL ASPECTS OF MULTIPLE MANIPULATOR SYSTEMS

In this paper, we address the topic of numerical computation in a system of multiple manipulators, one which has received scant attention despite a great deal of research in development of control schemes and the proliferation of similar work on single manipulator systems. Different approaches to computations in kinematics, statics and dynamics of multiple manipulator systems are studied and compared. The results show that significant savings in computational count can be achieved through customization of models. A systematic approach to customization is also described herein.