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Author: Chao-Ying Wang
Publisher:
ISBN:
Category :
Languages : en
Pages : 248
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Book Description
Author: Chao-Ying Wang
Publisher:
ISBN:
Category :
Languages : en
Pages : 248
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Book Description
Author: S.G. Tzafestas
Publisher: Springer Science & Business Media
ISBN: 9401138125
Category : Technology & Engineering
Languages : en
Pages : 411
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Book Description
Microprocessors play a dominant role in computer technology and have contributed uniquely in the development of many new concepts and design techniques for modem industrial systems. This contribution is excessively high in the area of robotic and manufacturing systems. However, it is the editor's feeling that a reference book describing this contribution in a cohesive way and covering the major hardware and software issues is lacking. The purpose of this book is exactly to fill in this gap through the collection and presentation of the experience of a number of experts and professionals working in different academic and industrial environments. The book is divided in three parts. Part 1 involves the first four chapters and deals with the utilization of microprocessors and digital signal processors ( DSPs ) for the computation of robot dynamics. The emphasis here is on parallel computation with particular problems attacked being task granularity, task allocation/scheduling and communication issues. Chapter I, by Zheng and Hemami, is concerned with the real-time multiprocessor computation of torques in robot control systems via the Newton-Euler equations. This reduces substantially the height of the evaluation tree which leads to more effective parallel processing. Chapter 2, by D'Hollander, examines thoroughly the automatic scheduling of the Newton-Euler inverse dynamic equations. The automatic program decomposition and scheduling techniques developed are embedded in a tool used to generate multiprocessor schedules from a high-level language program.
Author: Yong-Long Calvin Ling
Publisher:
ISBN:
Category : Computer architecture
Languages : en
Pages : 542
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Book Description
Author: Christian M. Netter
Publisher:
ISBN:
Category :
Languages : en
Pages : 228
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Book Description
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 702
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Book Description
Author: U. Rembold
Publisher: Elsevier
ISBN: 1483298760
Category : Technology & Engineering
Languages : en
Pages : 569
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Book Description
Containing 88 papers, the emphasis of this volume is on the control of advanced robots. These robots may be self-contained or part of a system. The applications of such robots vary from manufacturing, assembly and material handling to space work and rescue operations. Topics presented at the Symposium included sensors and robot vision systems as well as the planning and control of robot actions. Main topics covered include the design of control systems and their implementation; advanced sensors and multisensor systems; explicit robot programming; implicit (task-orientated) robot programming; interaction between programming and control systems; simulation as a programming aid; AI techniques for advanced robot systems and autonomous robots.
Author: Robert D. Steele
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 246
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Book Description
Author: Daylond James Hooper
Publisher:
ISBN:
Category : Robots
Languages : en
Pages : 204
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Book Description
Author: Wangjin Mun
Publisher:
ISBN:
Category : Real-time control
Languages : en
Pages : 272
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Book Description
As a result of the automation revolution, robots are assuming ever more complex and demanding tasks. Robot system control schemes for fast and precise robot motion require utilization of the entirety of the robot dynamic formulations and the ability to evaluate these formulations in real-time. The dynamic formulations, which take into account robot nonlinearities and dynamic coupling, are computationally intensive. They are difficult to implement in real-time at high sampling rates due to the time required to compute the dynamic formulations. Reducing the computation time for practical implementation can be achieved by developing a computing algorithm for the efficient evaluation of the dynamic formulations and by designing a dedicated computer architecture. The proposed solution is a pipelined multiprocessor computer architecture and fast parallel algorithms for real-time control. The multiprocessor system can be utilized to concurrently perform pipelined parallel computations, thereby substantially increasing controller processing speed and CPU utilization. Concurrent performance of pipelined parallel computations is based on consideration of the sequential dependencies of the dynamic formulations which are conducive to pipelining, and decomposition of the dynamic backward formulations for fast parallel computation. The decomposition of the backward formulations is based on computational simplification techniques. The performance of the proposed algorithms, called "PAFP," is evaluated through analytic error analysis and experimental simulations, including motion simulations. It is compared to other approaches to the problem proposed by, respectively, Bejczy and Binder. Study results show that the errors introduced by decomposition are relatively small and compare very favorably to those obtained by other methods of computation simplification. The proposed computer architecture and the algorithms may be implemented with multiple low-cost microprocessors. This will allow a practical implementation of a highly parallel structure to achieve real-time robot control with high sampling rates.
