Abstract
This paper presents a new kinematics algorithm for branched chains, Asynchronous Forward Kinematics (AFKB). The algorithm has the complexity of O(log n) for updating one joint angle, and O(log2 n) for obtaining a transformation matrix between links. AFKB enables computation for efficient forward kinematics under asynchronous sensory data. Moreover, AFKB enables to localise computational resources at sensitive joints to the position of the end point (e.g. the fingertip), like a root joint. We provide implementation results including computation time, comparing AFKB and the conventional forward kinematics (CFK). The results showed that the computation time is effective enough for real-time computation. For instance, computation time for 50 links takes less than 60 us for 1 query. Moreover, computation time with over 100000 links takes less than 280 us for 1 query.
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