By Topic

Fast computation algorithm for robot dynamics and its implementation

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)
Han-Pang Huang ; Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan ; Dyi-Rong Duh

The authors propose an architecture of parallel processing to increase the computational speed of the matrix/vector operation for robot dynamics. The system is formed by nine processor elements with X-bus and Y-bus. This array processor is able to achieve zero data transfer time by using data sharing on the bus. The multiplication of 3×3 rotation matrices requires only three multiplications and two additions. The vector inner products and vector additions can be performed in one multiplication and two additions (or one addition), respectively. It is shown that the proposed architecture is more economic and more efficient than other existing approaches. Furthermore, the above architecture has been implemented on three IBM-PC boards by using the Intel 8088 CPU

Published in:

Industrial Electronics, 1992., Proceedings of the IEEE International Symposium on

Date of Conference:

25-29 May 1992