| dc.contributor.author | Machado, J. A. Tenreiro | |
| dc.contributor.author | Carvalho, J. L. Martins de | |
| dc.contributor.author | Costa, António M. C. | |
| dc.contributor.author | Matos, José S. | |
| dc.date.accessioned | 2017-03-08T15:32:49Z | |
| dc.date.issued | 1988 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/9583 | |
| dc.language.iso | eng | pt_PT |
| dc.publisher | Akademie - Verlag Berlim | pt_PT |
| dc.title | Dedicated compute system for robot manipulations | pt_PT |
| dc.type | book part | |
| dspace.entity.type | Publication | |
| oaire.citation.endPage | 6 | pt_PT |
| oaire.citation.startPage | 1 | pt_PT |
| oaire.citation.volume | II | pt_PT |
| person.familyName | Tenreiro Machado | |
| person.givenName | J. A. | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | bookPart | pt_PT |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |
