By C. T. Leonides
This paintings, a part of a chain on keep an eye on and dynamic structures, concentrates on kinaesthetic suggestions strategies in teleoperated platforms, parallel algorithms and fault-tolerant reconfigurable structure, trajectory making plans for robotic keep watch over, manipulator dynamics and extra.
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Additional resources for Advances in Robotic Systems, Part 2 of 2
Based on the linear recurrence property, this algorithm computes the Jacobian at any given desired reference coordinate frame k in the order of 0(n). The equations in Table 3 show high uniformity of operations again. In particular, equations (3-a)-(3-d) are all in homogeneous linear recursive form, among which equations (3-a) and (3-b) are the forward recursive equations, and equations (3-c) and (3-d) are the backward recursive equations. In fact, the forward and backward recursive equations can be processed together.
Our analysis shows that machines operating in the single-instruction-stream multiple-data-stream (SIMD) mode are the most efficient and suitable for our robotic algorithms. By fully considering the common characteristics and inherent parallelism of the robotic algorithms, a medium-grained, reconfigurable, dual-network, SIMD (DN-SIMD) machine with internal direct feedback has been designed for the computation of these kinematic and dynamic computational tasks. To achieve high efficiency by solving the communication problem in the proposed parallel machine, the Generalized Cube network is used as the interconnection networks in our structure.
This scheme is suitable for designing a sub-special parallel architecture for a fixed set of parallel algorithms. This is the approach we choose for our robotic computational tasks. A key factor to the design of a parallel architecture for a group of algorithms is the understanding of their architectural requirements, and this requires us to identify the characteristics of these algorithms. This identification is usually helpful because the algorithms from a given application area such as robotics often possess an identifiable structure.