A parallel algorithm and architecture for the control of kinematically redundant manipulators
| dc.contributor.author | Reagin, James M., author | |
| dc.contributor.author | Maciejewski, Anthony A., author | |
| dc.contributor.author | IEEE, publisher | |
| dc.date.accessioned | 2007-01-03T06:16:23Z | |
| dc.date.available | 2007-01-03T06:16:23Z | |
| dc.date.issued | 1992 | |
| dc.description.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. | |
| dc.description.sponsorship | This work was supported in part by the NEC Corporation, the TRW Foundation, and General Motors. | |
| dc.format.medium | born digital | |
| dc.format.medium | proceedings (reports) | |
| dc.identifier.bibliographicCitation | Maciejewski, Anthony A. and James M. Reagin, A Parallel Algorithm and Architecture for the Control of Kinematically Redundant Manipulators, Proceedings: 1992 IEEE International Conference on Robotics and Automation, May 12-14, 1992, Nice, France: 488-493. | |
| dc.identifier.uri | http://hdl.handle.net/10217/1209 | |
| dc.language | English | |
| dc.language.iso | eng | |
| dc.publisher | Colorado State University. Libraries | |
| dc.relation.ispartof | Faculty Publications | |
| dc.rights | ©1992 IEEE. | |
| dc.rights | Copyright 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.subject | parallel algorithms | |
| dc.subject | manipulators | |
| dc.subject | kinematics | |
| dc.subject | digital signal processing chips | |
| dc.subject | parallel architectures | |
| dc.subject | redundancy | |
| dc.title | A parallel algorithm and architecture for the control of kinematically redundant manipulators | |
| dc.type | Text |
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