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  • Parallel VLSI Architectures for Real-Time Kinematics of Redundant Robots 

    Walker, Ian D.; Cavallaro, Joseph R. (Kluwer Academic Publishers, 1994-01-01)
    We describe new architectures for the efficient computation of redundant manipulator kinematics (direct and inverse). By calculating the core of the problem in hardware, we can make full use of the redundancy by implementing ...