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基于Cilk的不确定机械手主控LM算法并行化研究

Parallel LM of Uncertain Multi-Finger Robot Host System Based on Cilk
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摘要 由于不确定机械手本身的非线性、复杂的特性,普通主控算法无法实现有效控制。提出了基于Cilk的主控LM算法,旨在通过多核并行处理,提高系统的响应能力。建立了基于LM的核心算法,并针对3种拟合函数作并行化处理,研究Cilk并行化对算法性能的影响。实验表明,Cilk能够有效提升LM算法性能,从而提升主控系统的响应能力。 Effective control can't be obtained by general host system, because of the nolinearity and complexity of uncertain multi-finger robot. This paper puts forward an uncertain multi-finger robot host system based on Cilk & LM algorithm, which improves the system responsiveness with multiprocessor technology. Also this paper builds a core algorithm based on LM, handles the parallel processing of 3 fitting function mod-els ,and checks the effect of Cilk. The experiments show that Cilk can improve the performance of LM algo-rithms ,and promote the capacity and responsiveness of the host system.
出处 《集美大学学报(自然科学版)》 CAS 2017年第3期55-59,共5页 Journal of Jimei University:Natural Science
基金 福建省教育厅科技项目(JA15262)
关键词 并行处理 LM算法 Cilk parallel processing LM algorithm Cilk
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