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Real-time DKS on a single chip

Content Provider	IEEE Xplore Digital Library
Author	Leung, S. Shanblatt, M.
Copyright Year	1985
Abstract	The desire to add more intelligent functionality and enhanced real-time Control capability to robotic systems places a heavy demand on computational resources. Nascent application-specific VLSI technology offers an unprecedented opportunity to relieve this computational burden by implementing specific robotic functions directly in hardware. A VLSI architecture, designed to compute the direct kinematic solution (DKS) on a single chip, is described. The DKS chip features fixed-point calculation and on-chip generation of trigonometric functions. The calculation achieves the resolution required for most industrial applications. Innovative modifications of the conventional adder control and the form of the homogeneous transformation matrix have improved throughput. Simulation results indicate that speed improvements of several orders of magnitude in the kinematic computation are achievable with application-specific integrated circuit technology, compared to microprocessor implementation.
Starting Page	281
Ending Page	290
Page Count	10
File Size	1045830
File Format	PDF
ISSN	08824967
Volume Number	3
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1987-08-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent robots Very large scale integration Kinematics Computational intelligence Real time systems Robot control Control systems Service robots Hardware Computer architecture
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Engineering Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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