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Parallel processing architecture for computing inverse differential kinematic equations of the PUMA arm (1987)

Han, W. H. ; Hsia, T. C. ; Lu, G. Z.

In: CASI

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Publication Date: 2017-10-02

Description: In advanced robot control problems, on-line computation of inverse Jacobian solution is frequently required. Parallel processing architecture is an effective way to reduce computation time. A parallel processing architecture is developed for the inverse Jacobian (inverse differential kinematic equation) of the PUMA arm. The proposed pipeline/parallel algorithm can be inplemented on an IC chip using systolic linear arrays. This implementation requires 27 processing cells and 25 time units. Computation time is thus significantly reduced.

Keywords: COMPUTER PROGRAMMING AND SOFTWARE

Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 3; p 317-324

Format: application/pdf

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