2 edition of Robot inverse dynamics computation via VLSI distributed architectures found in the catalog.
Robot inverse dynamics computation via VLSI distributed architectures
A. Y. Zomaya
by University of Sheffield, Dept. of Control Engineering in Sheffield
Written in English
|Statement||by A.Y. Zomaya, A.S. Morris.|
|Series||Research report / University of Sheffield. Department of Control Engineering -- no.350, Research report (University of Sheffield. Department of Control Engineering) -- no.350.|
|Contributions||Morris, A. S.|
The emphasis here is on parallel computation with particular problems attacked being task granularity, task allocation/scheduling and communication issues. Chapter I, by Zheng and Hemami, is concerned with the real-time multiprocessor computation of torques in robot control systems via . 'A distributed pipelined architecture of robot dynamics with VLSI implementation', Int Journ of Robotics and Automation, , 6(3), pp AMIN, S.H.M. and MORRIS, A.S.: ' A MRAC scheme to control lightweight flexible robot manipulators, Proc of IEEE Int Conf on Industrial Electronics, Control and Automation (IECON´91), Kobe, Japan.
Robot dynamics. equations of motion describe the relationship between forces/torques and motion (in joint space or workspace variables) two possible goals: 1. Given motion variables (e.g. or), what joint torques () or end-effector forces () would have been the cause? (this is inverse dynamics). Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom (“3T2R”). While kinematic models for specific mechanisms for these tasks exist, a general kinematic model for parallel robots is still missing. This paper presents the definition of the rotational component.
The inverse dynamics of robot manipulators based on flexible arm models are considered. Actuator torques required for a flexible arm to track a given trajectory are formulated and computed by using special moving coordinate systems, called virtual rigid link coordinates. Robotic systems have experienced exponential growth thanks to their incredible adaptability. Modern robots require an increasing level of autonomy and the capability to interact with humans. This book addresses the challenges of increasing and ensuring reliability and safety of modern robotic and autonomous systems. The book provides an overview of research in this field to-date, and addresses.
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Robot Inverse Dynamics Computation Via VLSI Distributed Architectures A. ZOMÄYA A. MORRIS Department of Control Engineering University of Sheffield Mappin Street Sheffield Sl 3D U.K. Research Report No. Feburary An efficient and fast computation of robot arm joint torques using very large scale integration (VLSI) is discussed.
A distributed architecture for the recursive Lagrangian equations of motion is designed to solve the inverse dynamics problem. Lagrangian based equations are found to be more appropriate to implement than the equivalent Newtonian-based or classical Lagrangian-based Cited by: 1.
Robot Inverse Dynamics Computation Via VLSI Distributed Architects. Article. A distributed architecture for the recursive Lagrangian equations of motion is designed to solve the inverse. Real-time sophisticated robot control schemes require the online evaluation of the inverse robot dynamics model, a computationally intensive task.
architecture based upon the distributed. Yang, D.C. and Tzeng S.W. (), Simplification and linearization of manipulator dynamics by the design of inertia distribution, J. Robotics Research. 5, Young, K.-K (), Controller design for Robot Manipulator Inverse Dynamics Computation Real-time System 67 a nanipulator using theory of variable structure systems, IEEE Trans.
by: 1. Real-time processing in robot dynamic control is known to be difficult because of heavy computational burden. To overcome this difficulty, In this paper, we propose a parallelized robot inverse dynamics algorithm by reconstruction of He's algorithm and implement a robot control system using transputers to show the validity of proposed algorithm for real-time control.
"Parallel Computation of robotic inverse dynamics for high speed motions", lEE Proceeding-D Vo, No. 2, March. out msec for dynamics of 3 axes revolute manipulator. If all of them are computed in parallel, the robot dynamics can be computed in 1msec.
The modified robot dynamics algorithm can reduce this to msec. We describe new architectures for the efficient computation of redundant manipulator kinematics (direct and inverse). By calculating the core of the problem in hardware, we can make full use of the redundancy by implementing more complex self-motion algorithms.
A key component of our architecture is the calculation in the VLSI hardware of the Singular Value Decomposition of the manipulator.
The rapid development in VLSI technology makes it possible to implement highly complicated and time-consuming algorithms to accommodate real-time applications, Parallel processing techniques can now be used to reduce the computational time for models of high mathematical nature such as the computation of robot kinematics.
Using this network, the computation time for the full inverse dynamic model (Equation (1)) was ms. Times for all the networks investigated are given in Table 2. It should be noted that in each network ofn processors, one processor is acting in a supervisory role and the active computation is distributed across only (n - 1) processors.
It is shown that the time lower bound of computing the inverse dynamics of an n-link robot manipulator parallelly using p processors is O(k1 [n/p] + k2 [log.
An extension of the inverse kinematics algorithm by Gupta and Kazerounian is presented. The robot kinematics is formulated by using the Zero Reference Position Method. Euler parameters and the related vector forms of the spatial rotation concatenation have been used to improve the efficiency of the velocity Jacobian computation.
C.S.G. Lee's 88 research works with 2, citations and 2, reads, including: Closed-form inverse kinematic joint solution for humanoid robots. dressed by Book , who developed an e cient, re-cursive Lagrangian formulation (using 4 4 matrices) of both inverse and forward dynamics for serial chains with exible links.
A general modal formulation of elastic displacement was used. 3 Equations and Algorithms This section presents the main algorithms and asso-ciated equations. Microprocessors play a dominant role in computer technology and have contributed uniquely in the development of many new concepts and design techniques for modem industrial systems.
This contribution is excessively high in the area of robotic and manufacturing systems. However, it is the editor's feeling that a reference book describing this contribution in a cohesive way and covering the 3/5(1).
Lee and C. Chen, “Efficient Mapping Algorithms for Scheduling Robot Inverse Dynamics Computation on a Multiprocessor System,” Engineering Research Center Technical Report, TR-ERCSchools of Engineering, Purdue University, West Lafayette, Indiana, September Also to appear in IEEE Trans.
on Syst. Man. Cybern. Google. kinematics, dynamics, control, sensing, and planning for robot manipu-lators. Given the state of maturity of the subject and the vast diversity of stu-dents who study this material, we felt the need for a book which presents a slightly more abstract (mathematical) formulation of the kinematics, dynamics, and control of robot manipulators.
actuators) at the joints of the robot. The dynamics of a robot manipu- the inverse problem can be treated: the control of a robot manipulator entails ﬁnding diﬀerent forms of the equations may be better suited for computation or analysis.
We will use a. Abstract. This paper proposes a restructurable architecture based on a VLSI Robotics Vector Processor (RVP) chip. It is specially tailored to exploit parallelism in the low-level matrix/vector operations characteristic of the kinematics and dynamics computations required for real-time control.
computer architecture. The system is constructed from (VLSI) building blocks called the (TRANSPUTER). Quantification of the speed and utilisation measures are given to the cost-effectivness of the parallel approach.
The problem is solved for a 6 dof robot arm. Key words: robot dynamics, forward dynamics, parallel processing. A systolic architecture for computation of the manipulator inertia matrix, Efficient Parallel Algorithms for Robot Inverse Dynamics Computation, IEEE Trans, on Systems, Man and Cybernetics, Vol.
16,4, pp. –, CrossRef Google Scholar  A VLSI .approach. The dynamics are computed by using a semi-customised Newton-Euler for- mulation. The algorithm is distributed over a highly-coupled multiple-instruction multiple-data steram (MIMD) computer architecture.
The computer system is con- structed from general purpose (VLSI) building blocks called the (TRANSPUTER). The.Abstract. This chapter describes parallel processing of robot-arm control computation and simulation.
The parallel processing of robot control computation has attracted much attention to develop a cost-effective, compact, and advanced robot controller which allows a robot system to perform very complicated operations quickly and accurately even in hazardous environments, such as space and.