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

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 computatio...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Liu, J., Mao, Z.Q., Lu, G.Z., Han, W.H., Hsia, T.C., Current, K.W., Chu, W.S.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Computational efficiency Computer architecture Jacobian matrices Kinematics Manipulators Pipeline processing Robot control Sampling methods Testing Very large scale integration
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