並列タイトル等ジョウチョウケイ ギャクウンドウガク マップ ケイサン ノ ヘイレツ ブンサン アーキテクチャ
Parallel Decentralized Computation Architecture for Calculating and Inverse Kinematics Map of a Redundant Robot System
タイトル(掲載誌)愛知工業大学研究報告. B, 専門関係論文集 = Bulletin of Aichi Institute of Technology. Part B
一般注記A high-speed computation algorithm and a developed hard-ward architecture are described in this paper which are used for solving the inverse kinematics method of a redundant robot by a nonlinear mapping method. The nonlinear mapping algorithm computes the nonlinear map between fingertip positions and joint angles of the robot by a diffusion-based parallel dispersed method. However, to compute the high density nonlinear map by this algorithm, there are two problems, that is enormous computing time and many processors are required. In this paper, we propose one way of computing high density map with the reasonable number of processors and computing time by the divided parallel dispersed method. Also, we have designed a hard-ware architecture and composed parallel CPU computer system and then made some experiments to evaluate the performance of this system.
identifier:http://repository.aitech.ac.jp/dspace/handle/11133/1070
一次資料へのリンクURLhttp://repository.aitech.ac.jp/dspace/bitstream/11133/1070/1/%e7%b4%80%e8%a6%8134%e5%8f%b7B%28P15-20%29.pdf
連携機関・データベース国立情報学研究所 : 学術機関リポジトリデータベース(IRDB)(機関リポジトリ)