NDLI: Systolic array realization of a trajectory planning algorithm in robotics

Content Provider	IEEE Xplore Digital Library
Author	Han, J.Y. Krishnan, D.C.
Copyright Year	1988
Description	Author affiliation: Dept. of Electr. Eng., Southern Illinois Univ., Carbondale, IL, USA (Han, J.Y.; Krishnan, D.C.)
Abstract	A parallel pipeline architecture using systolic arrays is proposed for a collision-free trajectory planning algorithm. A systolic array for realizing the pseudo-inverse of a Jacobian matrix is proposed, and the systolic design for a minimum norm trajectory planner and collision-free trajectory planner are described. The computer system architecture can compute the collision-free trajectory of a robot fast enough for real-time operation. Specifically, the computation time needed to determine the trajectory of the end-effector using the systolic array is about 21.8 mu s, which is very short when compared to the reaction time of the robotic manipulator. Hence, the structure is well suited for real-time operations.
Starting Page	638
Ending Page	641
File Size	212565
Page Count	4
File Format	PDF
ISBN	0818620129
ISSN	21589860
DOI	10.1109/ISIC.1988.65505
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-08-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Systolic arrays Trajectory Robots Jacobian matrices Computer architecture Concurrent computing Real time systems Kinematics Pipeline processing Motion planning
Content Type	Text
Resource Type	Article

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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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