A parallel algorithm and architecture for the control of kinematically redundant manipulators
Reagin, James M.
Maciejewski, Anthony A.
MetadataShow full item record
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.