冗長系逆運動学マップ計算の並列分散アーキテクチャ

Material type: 文書・図像類

Author: 安藤, 英由樹ほか

Publisher: 愛知工業大学

Publication date: 1999-03-31

Material Format: Digital

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Note (General)：: A high-speed computation algorithm and a developed hard-ward architecture are described in this paper which are used for solving the inverse kinematic...

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Material Type: 文書・図像類
Title: 冗長系逆運動学マップ計算の並列分散アーキテクチャ
Author/Editor: 安藤, 英由樹
羅, 志偉
平松, 誠治
加藤, 厚生
Author Heading: 安藤, 英由樹
羅, 志偉
平松, 誠治
加藤, 厚生
Publication, Distribution, etc.: 愛知工業大学
Publication Date: 1999-03-31
Publication Date (W3CDTF): 1999-03-31
Alternative Title: 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
Periodical title: 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
No. or year of volume/issue: 34
Volume: 34
Pages: 15-20
ISSN (Periodical Title): ISSN : 0387-0812
Text Language Code: jpn
Target Audience: 一般
Note (General): 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
Access Restrictions: 限定公開
Periodical Title (NCID): AN00007801
https://ci.nii.ac.jp/ncid/AN00007801
Data Provider (Database): 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）
https://irdb.nii.ac.jp
Original Data Provider (Database): 愛知工業大学 : 愛知工業大学学術情報リポジトリ