Distributed VLSI Architectures for Fast Jacobian and Inverse Jacobian Formulations
作者： A.Y. Zomaya , A.S. Morris
DOI:
关键词: Parallel computing 、 Parallel processing (DSP implementation) 、 Robotic arm 、 occam 、 Very-large-scale integration 、 Jacobian matrix and determinant 、 Concurrent computing 、 Algorithm 、 Computer science 、 Transputer 、 Cost effectiveness
摘要: The rapid development in VLSI technology makes it possible to implement highly complicated and time consuming algorithms suit real-time applications. Parallel processing techniques can now be used reduce computational for models of robot manipulators. system the consists an INMOS TRANSPUTER ) a VSLI single-chip computer) running OCCAM concurrent programming language. This is construct evaluate performance cost effectiveness several proposed methods solve JACOBIAN INVERSE problems with special attention case operating neighbourhood singular points. Detailed analysis performed successful results are obtained 6 dof arm (PUMA 560). Execution comparisons between Von Neumann (uniprocessing) parallel architectures also included show superiority latter approaches.
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