Title :
Analog matrix inversion [robot kinematics]
Author :
Sturges, Robert H., Jr.
Author_Institution :
Dept. of Mech. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA
fDate :
4/1/1988 12:00:00 AM
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;
Journal_Title :
Robotics and Automation, IEEE Journal of
