Efficient parallel algorithms and VLSI architectures for manipulator Jacobian computation

To investigate real-time Jacobian computation, the authors determine an optimal reference coordinate frame k for efficient computation in uniprocessor computers, extend the concept to be computed by parallel SIMD (single-instruction, multiple-data-stream) computers, and design two VLSI systolic pipelined architectures. The first is a linear VLSI pipe, which uses the least number of modular processors; however, 3N FLOPS (floating-point operations per second) are needed to compute the Jacobian. The second one is a parallel VLSI pipe, which just takes 3 FLOPS to compute the Jacobian