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Parallelism in manipulator dynamics

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1 Author(s)
R. Lathrop ; M.I.T. Artificial Intelligence Laboratory, Cambridge, Ma.

This paper presents two highly parallel "mathematically exact" formulations of the inverse Dynamics especially suited to high-speed implementations using VLSI devices. The first is a parallel formulation of the existing linear recursive Newton-Euler algorithm, with the real-time coefficients reduced almost two orders of magnitude. The second reports a new parallel algorithm which improves the linear time dependency to O(log2) of the number of joints, with small coefficients. Either formulation is susceptible to a systolic pipelined architecture, requiring four floating-point operations per complete set of joint torques. Hardware requirements are not excessive, and a VLSI implementation architecture is possible.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985