DocumentCode
880574
Title
Analog matrix inversion [robot kinematics]
Author
Sturges, Robert H., Jr.
Author_Institution
Dept. of Mech. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
Volume
4
Issue
2
fYear
1988
fDate
4/1/1988 12:00:00 AM
Firstpage
157
Lastpage
162
Abstract
The enhancement of robot dynamic performance can be aided by high-speed and, in some cases, low-accuracy calculation of matrices and their inverses. Analog techniques for the calculation of robot kinematics are reviewed and a method for fast matrix inversion is proposed. Tradeoffs in speed and accuracy in such computations are also examined
Keywords
kinematics; matrix algebra; robots; analog matrix inversion; dynamic performance; robot kinematics; Acceleration; Computer architecture; Force control; Force feedback; Jacobian matrices; Manipulator dynamics; Motion control; Real time systems; Robot kinematics; Service robots;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/56.2079
Filename
2079
Link To Document