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A new VLSI architecture for real-time control of robot manipulators

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7 Author(s)
Liu, J. ; Dept. of Comput. & Syst. Sci., Nankai Univ., Tianjin, China ; Mao, Z.Q. ; Lu, G.Z. ; Han, W.H.
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A special-purpose VLSI array is proposed for performing the computations of the Jacobian, inverse Jacobian, direct kinematics, and numerical integration for the implementation of a joint-space position and velocity command generator for a real-time robot. This integrated approach enhances computational efficiency by reducing the duplicate calculations of these functions and maximizing the parallel/pipelining processing. The array is connected in a systolic manner to form a 6×7 array using 42 basic processing elements (PEs); 6 `circular' PEs, 30 `square' PEs, and 6 `triangular' PEs. A `square' PE test chip has been designed and fabricated. The test results for this chip show that the array should be able to operate at a step time of 150 ns. For a six-link manipulator with rotary joints, it takes 156 steps, i.e., 23.4 μs, to complete all the computations in one sampling period

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991

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