A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required
Real-time computation of the inverse dynamics of robotic manipulators is required for ensuring robus...
The rapid development in VLSI technology makes it possible to implement highly complicated and time ...
In this paper we present an integrated approach for very fast kinematic computations in multibody sy...
The kinematic equation of an fi-link manipulator involves the chain product of n homogeneous link tr...
We describe new architectures for the efficient computation of redundant manipulator kinematics (dir...
The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking...
Hardware acceleration in high performance computer systems has a particular interest for many engine...
Due to continuously increasing demands in the area of advanced robot control, it became necess...
Real-time computations of manipulator Jacobian are examined for executing on uniprocessor computers,...
In advanced robot control problems, on-line computation of inverse Jacobian solution is frequently r...
This paper addresses the problem of efficiently computing the motor torques required to drive a lo...
This paper presents a practical implementation, using reconfigurable computing applied to robotic pr...
The development of an O(log2N) parallel algorithm for the manipulator inertia matrix is presented. I...
Due to continuously increasing demands in the area of advanced robot control, it became necessary to...
Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is ...
Real-time computation of the inverse dynamics of robotic manipulators is required for ensuring robus...
The rapid development in VLSI technology makes it possible to implement highly complicated and time ...
In this paper we present an integrated approach for very fast kinematic computations in multibody sy...
The kinematic equation of an fi-link manipulator involves the chain product of n homogeneous link tr...
We describe new architectures for the efficient computation of redundant manipulator kinematics (dir...
The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking...
Hardware acceleration in high performance computer systems has a particular interest for many engine...
Due to continuously increasing demands in the area of advanced robot control, it became necess...
Real-time computations of manipulator Jacobian are examined for executing on uniprocessor computers,...
In advanced robot control problems, on-line computation of inverse Jacobian solution is frequently r...
This paper addresses the problem of efficiently computing the motor torques required to drive a lo...
This paper presents a practical implementation, using reconfigurable computing applied to robotic pr...
The development of an O(log2N) parallel algorithm for the manipulator inertia matrix is presented. I...
Due to continuously increasing demands in the area of advanced robot control, it became necessary to...
Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is ...
Real-time computation of the inverse dynamics of robotic manipulators is required for ensuring robus...
The rapid development in VLSI technology makes it possible to implement highly complicated and time ...
In this paper we present an integrated approach for very fast kinematic computations in multibody sy...
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