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Direct kinematics solution architectures for industrial robot manipulators: bit-serial versus parallel
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Lee, J. Kim, K. |
| Copyright Year | 1991 |
| Description | A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required. |
| File Size | 508393 |
| Page Count | 10 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19940013885 |
| Archival Resource Key | ark:/13960/t7zm0810c |
| Language | English |
| Publisher Date | 1991-01-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Robot Arms Position Indicators Kinematics Very Large Scale Integration Manipulators End Effectors Robot Dynamics Transistors Robots Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
