A multi-processor architecture to control a sensor based multi-jointed robotic appendage

Author

Malladi, S.R. ; Valavanis, K.P.

Author_Institution

Intelligent Robotic Syst. Lab., Univ. of Southwestern Louisiana, Lafayette, LA, USA

fYear

1993

fDate

15-17 Dec 1993

Firstpage

370

Lastpage

375

Abstract

The kinematics and dynamics of robotic manipulators are generally computation intensive and require special high performance computer architectures to control manipulators in real-time. The authors describe parallelism in the minimum effort algorithm to control a redundant manipulator, a real-time multiprocessor system, and functional specifications of a multiprocessor module to control a sensor based multi-jointed robotic appendage

Keywords

manipulator dynamics; dynamics; functional specifications; high performance computer architectures; kinematics; minimum effort algorithm; multi-processor architecture; multiprocessor module; parallelism; real-time control; real-time multiprocessor system; redundant manipulator; robotic manipulators; sensor based multi-jointed robotic appendage; Computer architecture; Control systems; High performance computing; Kinematics; Manipulator dynamics; Multiprocessing systems; Parallel processing; Real time systems; Robot sensing systems; Sensor phenomena and characterization;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Architectures for Machine Perception, 1993. Proceedings

Conference_Location

New Orleans, LA

Print_ISBN

0-8186-5420-1

Type

conf

DOI

10.1109/CAMP.1993.622493

Filename

622493