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Computational structures for robotic computations (1987)

Chang, P. R. ; Lee, C. S. G.

In: CASI

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Publication Date: 2019-06-28

Description: The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking advantage of parallelism and pipelining architectures is discussed. For the computation of inverse kinematic position solution, a maximum pipelined CORDIC architecture has been designed based on a functional decomposition of the closed-form joint equations. For the inverse dynamics computation, an efficient p-fold parallel algorithm to overcome the recurrence problem of the Newton-Euler equations of motion to achieve the time lower bound of O(log sub 2 n) has also been developed.

Keywords: COMPUTER PROGRAMMING AND SOFTWARE

Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 1; p 199-210

Format: application/pdf

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