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A parallel algorithm and architecture for the control of kinematically redundant manipulators

Date

1992

Authors

Reagin, James M., author
Maciejewski, Anthony A., author
IEEE, publisher

Journal Title

Journal ISSN

Volume Title

Abstract

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.

Description

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Subject

parallel algorithms
manipulators
kinematics
digital signal processing chips
parallel architectures
redundancy

Citation

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