Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/9868
Título: A real-time system for robot manipulator inverse dynamics computation
Autor: Machado, J. A. Tenreiro
Carvalho, J. L. Martins de
Matos, J. A. Silva
Palavras-chave: Computational methods
Boolean algebra
Computer architecture
Parallel processing
Robots
Compilers
Data: 25-Mai-1988
Relatório da Série N.º: WRTP'88;
Resumo: A new robot manipulator inverse dynamics computational algorithm is announced. The novel feature resides in the computations which are a blend of ordinary and Boolean algebra. As such, this method may also be interpreted as a dedicated compiler that optimizes the on-line conputing time at expenses of the off-line stage. Nevertheless, the high off-line requirements are alleviated, through the derivation of some general ruls that stem from the structure of the robot manipulator equations. Moreover, the on-line computing time is further optimized through the use of Binary Decision Diagrass. The results show a considerable computational improvement on a conventional sequential machine. Furthermore, they clearly point out new computational parallel architectures, without schedualing problems, and where performance improvement is proportional to the number of processors. Finally, it is observed that the proposed algorithm is not restricted to robot inverse dynamic computations, but is also applicable to many other real-time computing structures.
Descrição: 15th IFAC/IFIC Workshop on Real-Time Programming
URI: http://hdl.handle.net/10400.22/9868
Aparece nas colecções:ISEP – DEE – Comunicações em eventos científicos

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