Grid Computing Using In Robot Machine

With the fast development of technology of network and computing, the technology of Grid Computing has come into being in recent years. It aims to realize the computing resource share and eliminate computing resource isolated island. Those computing resource can be distributed in different areas, owned by different organizations and designed in different structures.In scientific research and project, we will have much more and more complex mathematic computing problems. But the computing power of personal computer is relatively short and the super computer which has strong ability of computing is very expensive and can't popularize in ordinary research and construction institutes. So it is very popular to attempt to solve computing problems with grid computing technology in scientific research and constructing projects.In the current background of grid computing, the purpose of this paper is to build computational grid with the gid-middleware —NetSolve and solve the mathematic problems in the domain of robot machine.This dissertation is divided into 7 chapters. In chapter 1, the research status of grid computing in china and other countries and the direction of grid computing development is discussed. The basic theoretic and architecture of grid is mainly introduced in chapter 2. In chapter 3,two famous grid projects which called GLOBUS and NETSOLVE are introduced and studied. Some calculation libraries related with linearity are also introduced in this chapter. The content of chapter 4 includes the basic knowledge about robot machine, the kinematics equation of automaton and the analysis of working space of machine. In chapter 5,the grid-middleware NetSolve is studied, and use it to build calculational grid platform on which develop calculational program and solve computing problems. The chapter 6 is a example to invoke the computational grid service. The content of chapter 7is the summarization of this paper and...