Comparison of parallel computation schemes for calculating robot Jacobians
β Scribed by A.S. Morris; A.Y.H. Zomaya
- Publisher
- Elsevier Science
- Year
- 1993
- Tongue
- English
- Weight
- 532 KB
- Volume
- 3
- Category
- Article
- ISSN
- 0957-4158
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
The paper considers parallel computation of an adaptive impedance control algorithm for a robot manipulator. Simulation results show that short sampling periods are necessary in order to obtain correct action of the control method. The complex control law is represented as a task graph and scheduled
The recursive Newton-Euler formulation to compile or compute the robot dynamics is essential for problems of robot simulation as well as for robot inverse dynamics. Beside the established form of computation in outward (forward) and inward (backward) recursion, several schemes that exploit inherent