NDLI: A systolic array chip for robot inverse dynamics computation

Content Provider	IEEE Xplore Digital Library
Author	Rahman, M. Meyer, D.G.
Copyright Year	1992
Description	Author affiliation: VLSI Technology, Inc., Pompano Beach, FL, USA (Rahman, M.)
Abstract	To ensure smooth and accurate movement of a robot arm, the robot inverse dynamics problem must be solved at each servo sampling. The computation of this problem, however, is a mathematically intense task which degrades the sampling period of presentday robot control systems. In addition to the repetitive requirement for its evaluation, the linearly recursive and computer-bound properties of the robot inverse dynamics problem using the Newton-Euler (N-E) equations of motion suggest that it is amenable for direct mapping onto a fixed systolic array structure. This paper presents such an architecture and discusses its implementation in 1-micron CMOS technology, to compute the N-E algorithm for an n-link manipulator, within a period of 69+12n clock cycles. For a six-link robot manipulator operating at the maximum device frequency of 25 MHz, the total execution time is 5.64 mu s. The die size of this robot controller chip is 530*485 square mils, and its estimated power dissipation at the specified frequency is 3.5 watts.<>
Starting Page	400
Ending Page	414
File Size	609090
Page Count	15
File Format	PDF
ISBN	0818629673
ISSN	10636862
DOI	10.1109/ASAP.1992.218556
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-08-04
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Systolic arrays Sampling methods Robot control CMOS technology Manipulators Frequency estimation Servomechanisms Degradation Equations Computer architecture
Content Type	Text
Resource Type	Article
Subject	Computer Networks and Communications Hardware and Architecture

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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
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