Reagin, James M., authorMaciejewski, Anthony A., authorIEEE, publisher2007-01-032007-01-031992Maciejewski, 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.http://hdl.handle.net/10217/1209This 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.born digitalproceedings (reports)eng©1992 IEEE.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.parallel algorithmsmanipulatorskinematicsdigital signal processing chipsparallel architecturesredundancyText