Abstract
The rapid development in VLSI technology makes it possible to implement highly complicated and time-consuming algorithms to accommodate real-time applications, Parallel processing techniques can now be used to reduce the computational time for models of high mathematical nature such as the computation of robot kinematics. This work proposes several computational methods for the evaluation of Direct and Inverse Jacobians for manipulators. Special attention is paid to the case of the robot operating in the neighbourhood of singular points. The algorithms are implemented using a Transputer-based development system. Detailed analysis is performed and successful results are obtained for a typical industrial robot manipulators (PUMA 560). Execution time comparisons between sequential and parallel processing architectures are also included to show the superiority of the latter approaches.
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