Cart (Loading....) | Create Account
Close category search window
 

A parallel inverse kinematics solution for robot manipulators based on multiprocessing and linear extrapolation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hong Zhang ; Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada ; Paul, R.P.

A method of computing inverse kinematics in parallel for robots with a closed-form solution is presented. The computational task of computing each inverse kinematics solution is partitioned with one subtask per joint, and all subtasks are computed concurrently. The intrinsic dependency among subtasks is removed by linear extrapolation through the gradient of inverse kinematic functions and joint velocity information. The high degree of concurrency and naturally balanced concurrent subtasks of the system significantly reduce the latency of the inverse kinematics evaluation. Compared with a serial solution, the algorithm results in a reduction of the time of execution by a factor proportional to the number of joints when implemented on a multiprocessor system. Its simplicity makes it easily applicable to any robot manipulators with closed-form solutions. Examples are used to illustrate the effectiveness and the efficiency of the algorithm. Implementation of the algorithm on a multiprocessor system is also discussed

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.