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Dedicated compute system for robot manipulations
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In the last decade, robot dynamic computational algorithms have been steadily improved. Lagrangian[1] and Newton-Euler [2,3] recursive numerical algorithms, Horak’s mixed calculation[4], Lisp symbolic derivation of the robot closed form equations[5,6] and recently, customized computing algorithms[7,9] have been important stages towards more efficient procedures. Nevertheless, the still existing high computational loads, have prevented the industrial application of such algorithms. A new robot computational system, which overcomes those limitations, is presented. This system is motivated by the following considerations: - Symbolic formulae pose a high computational burden, due to the large number of arithmetic and transcendental computations. – These computations, usually performed at a high level compiled computer language are complex, namely, they are compiled to a large number of the microprocessor’s machine code instructions. – Those computations must be performed with very high precision, in order to reduce problems with finite precision arithmetics, a large word lengh is required. – There are two situations, as far as precision is concerned: the computer internal representation having very high precision contrasting with the computer interface to the outside world, usually consisting of 8 to 16 bit precision.
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Akademie - Verlag Berlim