Catalogo Articoli (Spogli Riviste)

OPAC HELP

Titolo:
IMPLEMENTATION OF THE VELOCITIES OF THE END-EFFECTOR WITH THE DISTRIBUTED ARITHMETIC ARCHITECTURE
Autore:
GRIGORIADIS GK; MERTZIOS BG;
Indirizzi:
DEMOCRITUS UNIV THRACE,DEPT ELECT & COMP ENGN,AUTOMATED CONTROL SYST LAB XANTHI 67100 GREECE
Titolo Testata:
Journal of intelligent & robotic systems
fascicolo: 4, volume: 17, anno: 1996,
pagine: 387 - 417
SICI:
0921-0296(1996)17:4<387:IOTVOT>2.0.ZU;2-G
Fonte:
ISI
Lingua:
ENG
Soggetto:
VLSI ARCHITECTURES; MANIPULATORS; KINEMATICS;
Keywords:
ROBOT KINEMATICS; LINEAR VELOCITY; ANGULAR VELOCITY; POSITIONAL AND ORIENTATIONAL JACOBIAN MATRICES; FAST IMPLEMENTATION; PIPELINING; DISTRIBUTED ARITHMETIC AND END-EFFECTOR;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
CompuMath Citation Index
Science Citation Index Expanded
Science Citation Index Expanded
Citazioni:
24
Recensione:
Indirizzi per estratti:
Citazione:
G.K. Grigoriadis e B.G. Mertzios, "IMPLEMENTATION OF THE VELOCITIES OF THE END-EFFECTOR WITH THE DISTRIBUTED ARITHMETIC ARCHITECTURE", Journal of intelligent & robotic systems, 17(4), 1996, pp. 387-417

Abstract

The fast implementation of the linear and of the angular velocities of the end-effector of robotic manipulators, using the distributed arithmetic technique is described. The linear and angular velocities of the end-effector as well as the positional and the orientational Jacobian matrices is calculated by a cascade configuration of two pipelined arrays. The building blocks of the arrays are the distributed arithmetic-based circuits that implement the matrix-vector multiplications involved in the calculations. The digit-serial configuration of the proposed implementation of the linear and angular velocities of the end-effector is described, while the serial and the parallel configurations may result as special cases of the digit-serial configuration. The proposed distributed arithmetic computer architecture may be used in the real-time operation of the robot control system that requires the on-line computation of the position, of the linear and angular velocities ofthe end-effector and of the Jacobian matrix.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 02/07/20 alle ore 17:14:06