A new robot manipulator inverse dynamics computational algorithm is announced. The novel feature resides in the computations which are a blend of ordinary and Boolean algebra. As such, this method may also be interpreted as a dedicated compiler that optimizes the on-line computing time at expenses of the off-line stage. Nervertheless, the high off-line requirements are alleviated, through the derivation of some general rules that stem from the structure of the robot manipulator equations. In a practical implementation, a copmuter program based on a Quine-McCluskey truth table simplification method was used and experimented on a 2R robot manipulator. The results show a considerable computational improvement on a conventional sequential machine. Furthermore. they clearly point out new comptutational parallel architectures, without scheduling problems, and where performance improvement is porportional to the number of processors. Finally, it is observed that the proposed algorithm is not restricted to robot inverse dynamic computations, but also applicable to kinematic and control computations. ; N/A


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Robot manipulator dynamics - Towards better computational algorithms



    Erscheinungsdatum :

    1988-10-05


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    ROBOT MANIPULATOR

    NESMIYANOV IVAN ALEKSEEVICH / NIKOLAEV MAKSIM EVGENEVICH / VOROBEVA NATALYA SERGEEVNA et al. | Europäisches Patentamt | 2019

    Freier Zugriff

    Mobile manipulator robot: omni 3 wheels manipulator robot

    Mestiri, Youssef | BASE | 2022

    Freier Zugriff

    manipulator A car washing robot based manipulator

    ZHANG JIANSONG / XIE ZISHENG / BEN SUDONG | Europäisches Patentamt | 2022

    Freier Zugriff

    Dynamics analysis of space robot manipulator with joint clearance

    Zhao, Yang / Bai, Zheng Feng | Elsevier | 2010