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A parallel algorithm and architecture for the control of kinematically redundant manipulators

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dc.contributor.authorReagin, J. Michael, author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T08:09:30Z
dc.date.available2007-01-03T08:09:30Z
dc.date.issued1994
dc.description.abstractKinematically redundant manipulators are inherently capable of more dexterous manipulation due to their additional degrees of freedom. To achieve this dexterity, however, one must be able to efficiently calculate the most desirable configuration from the infinite number of possible configurations that satisfy the end-effector constraint. It has been previously shown that the singular value decomposition (SVD) plays a crucial role in doing such calculations. In this work, a parallel algorithm for calculating the SVD is incorporated into a computational scheme for solving the equations of motion for kinematically redundant systems. This algorithm, which generalizes the damped least squares formulation to include solutions that utilize null-space projections and task prioritization as well as augmented or extended Jacobians, is then 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 ms for a seven degree-of-freedom manipulator.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationMaciejewski, Anthony A. and J. Michael Reagin, A Parallel Algorithm and Architecture for the Control of Kinematically Redundant Manipulators, IEEE Transactions on Robotics and Automation 10, no. 4 (August 1994): 405-414.
dc.identifier.urihttp://hdl.handle.net/10217/67346
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1994 IEEE.
dc.rightsCopyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.
dc.subjectparallel algorithms
dc.subjectmanipulators
dc.subjectkinematics
dc.subjectdigital signal processing chips
dc.subjectparallel architectures
dc.subjectredundancy
dc.titleA parallel algorithm and architecture for the control of kinematically redundant manipulators
dc.typeText

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