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Parallel Evaluation of Robot Kinematic Transformations

  • K. Dobrovodsky
  • P. Kurdel
Conference paper
Part of the Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich book series (AKADNIEDERÖSTER)

Abstract

Real-Time evaluation of kinematic transformations consumes a significant amount of the processor time in a robot control system. The aim of the paper is to explain the possibilities of the parallel evaluation of a general direct kinematics and the principle of the parallel evaluation of an inverse kinematics. To complete the overview of the problem, some important benefits and drawbacks of the parallel implementation of kinematic transformations are presented.

Keywords

Inverse Kinematic Sequential Evaluation Joint Variable Solution Step Parallel Evaluation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. Dobrovodský, K. (1992). Automatic Generation of Robot Inverse Kinematics. In: Kybernetika a informatika, Bratislava, 2/3Google Scholar
  2. Kurdel, P. (1992). Analysis of the Solution Methods of the Prototype XbXb=bc − a Typical Subtask of the Inverse Kinematics Problem. In: Kybernetika a informatika, Bratislava, 2/3Google Scholar
  3. Rieseler, H., Schrake, H., Wahl, F.M. (1991). Fourth and Second Order Solutions for Robots with Planar Joints Sets. In: 14th IASTED International Symposium Manufacturing and Robotics, June 25–27, Lugano, SwitzerlandGoogle Scholar

Copyright information

© Springer-Verlag/Wien 1994

Authors and Affiliations

  • K. Dobrovodsky
    • 1
  • P. Kurdel
    • 1
  1. 1.Institute of Control Theory and RoboticsSlovak Academy of SciencesBratislavaSlovakia

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