A parallel algorithm and architecture for the control of kinematically redundant manipulators Maciejewski, Anthony A. ; Reagin, James M. "This work was supported in part by the NEC Corporation, the TRW Foundation, and General Motors." This work presents a parallel algorithm for solving the equations of motion for kinematically redundant robotic systems. This algorithm, which relies on the calculation of the Singular Value Decomposition (SVD), is implemented on a simple linear array of processing elements. By taking advantage of the error bounds on the perturbation of the SVD, it is shown that an array of only four AT&T DSP chips can result in control cycle times of less than 3 milliseconds for a seven degree-of-freedom manipulator. Colorado State University. Libraries 1992 text ; image application/pdf ECEaam00065.pdf FACFECEN100065ARTI eng c1992 IEEE
A parallel algorithm and architecture for the control of kinematically redundant manipulators
Maciejewski, Anthony A. ; Reagin, James M.
"This work was supported in part by the NEC Corporation, the TRW Foundation, and General Motors."
This work presents a parallel algorithm for solving the equations of motion for kinematically redundant robotic systems. This algorithm, which relies on the calculation of the Singular Value Decomposition (SVD), is implemented on a simple linear array of processing elements. By taking advantage of the error bounds on the perturbation of the SVD, it is shown that an array of only four AT&T DSP chips can result in control cycle times of less than 3 milliseconds for a seven degree-of-freedom manipulator.
Colorado State University. Libraries
1992
text ; image
application/pdf
ECEaam00065.pdf
FACFECEN100065ARTI
eng
c1992 IEEE