A parallel algorithm and architecture for the control of kinematically redundant manipulators
Date
1992
Authors
Reagin, James M., author
Maciejewski, Anthony A., author
IEEE, publisher
Journal Title
Journal ISSN
Volume Title
Abstract
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.
Description
Rights Access
Subject
parallel algorithms
manipulators
kinematics
digital signal processing chips
parallel architectures
redundancy