Title :
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
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;
Conference_Titel :
Computer Architectures for Machine Perception, 1993. Proceedings
Conference_Location :
New Orleans, LA
Print_ISBN :
0-8186-5420-1
DOI :
10.1109/CAMP.1993.622493
