Browsing by Author "Matos, J. A. Silva"
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- An efficient computational scheme for robot manipulatorsPublication . Tenreiro Machado, J. A.; Carvalho, J. L. Martins de; Matos, J. A. SilvaA new robot manipulator computational scheme which is a blend of ordinary and Boolean algebra is presented. This method may also be interpreted as a dedicated compiler that optimizes the on-line computing time at expenses of the off-line stage. The off-line requirements are alleviated, by the implementation of some general rules that stem from the structure of the robot manipulator equations, and the on-line computing time is optimized through the use of Binary Decision Diagrams. The results show a considerable computational improvement on conventional sequential machines but, furthermore, they clearly point out new computational parallel architectures. Finally, it is observed that the proposed algorithm is not restricted to robot dynamic computations, but is also applicable to many other computing structures.
- Dedicated Computer System for Robot ManipulatorsPublication . Machado, J. A. Tenreiro; Carvalho, J. L. Martins de; Matos, J. A. Silva; Costa, António M. C.In the last decade, robot dynanic conputational algorithm have been steadily improved. Lagrangian [1] and Newton-Euler [2,3] recursive nunerical algorithns, Horak’s mixed calculation [4], Lisp based symbolic derivation of the robot closed forn equations [5,6] and recently, costumized conputing algorithns [7–9] have been important stages towards nore efficient procedures, Nevertheless, the still existing high computational loads, have prevented the industrial application of such algorithns.
- A real-time system for robot manipulator inverse dynamics computationPublication . Machado, J. A. Tenreiro; Carvalho, J. L. Martins de; Matos, J. A. SilvaA 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.
- Robot manipulator dynamics - Towards better computational algorithmsPublication . Tenreiro Machado, J. A.; Carvalho, J. L. Martins de; Matos, J. A. Silva; Costa, António M. C.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 computing time at expenses of the off-line stage. Nervertheless, the high off-line requirements are alleviated, through the derivation of some general rules that stem from the structure of the robot manipulator equations. In a practical implementation, a copmuter program based on a Quine-McCluskey truth table simplification method was used and experimented on a 2R robot manipulator. The results show a considerable computational improvement on a conventional sequential machine. Furthermore. they clearly point out new comptutational parallel architectures, without scheduling problems, and where performance improvement is porportional to the number of processors. Finally, it is observed that the proposed algorithm is not restricted to robot inverse dynamic computations, but also applicable to kinematic and control computations.