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

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.