Advances in Robotic Systems Part 2 of 2: Advances in Theory by C. T. Leonides

By C. T. Leonides

This paintings, a part of a chain on regulate and dynamic platforms, concentrates on kinaesthetic suggestions recommendations in teleoperated structures, parallel algorithms and fault-tolerant reconfigurable structure, trajectory making plans for robotic regulate, manipulator dynamics and extra.

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This scheme is suitable for designing a sub-special parallel architecture for a fixed set of parallel algorithms. This is the approach we choose for our robotic computational tasks. A key factor to the design of a parallel architecture for a group of algorithms is the understanding of their architectural requirements, and this requires us to identify the characteristics of these algorithms. This identification is usually helpful because the algorithms from a given application area such as robotics often possess an identifiable structure.

Reciprocal Square root Trigonometric Scalar ops. Reciprocal Matrix-Vector Trigonometric Local one-to-one Permutation Broadcast PARALLEL ALGORITHMS AND RECONFIGURABLE ARCHITECTURE 49 divided into two categories. One is to calculate the inverse or the generalized inverse Jacobian explicitly [30]. The other is to consider the inverse Jacobian problem as a system of linear equations and solve the joint rate from the Cartesian velocity implicitly [31]. For practical purposes, the latter approach is easier to be parallelized due to the use of some standard techniques to solve a system of linear equations such as the Gaussian elimination method.

29 Experimental s t u d i e s 8 , 36 29 and passivity have confirmed effects predicted by the theory such as the effect of human operator grasp strength on impedance. ΙΠ: CONCLUSIONS Kinesthetic feedback techniques will be essential for the foreseeable future in effectively operating robots in low-repetition rate, high value operations. The alternative of fully or partially autonomous sensor based intelligent control is not so far economically justifiable for low repetition rate, unstructured tasks because of the difficulty and cost of software development.

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