Vectorization of Robot Inverse Dynamics on a Pipelined Vector Processor

Harry H. Cheng and Krishna C. Gupta


This paper presents a computational scheme on a pipelined vector processor for the robot inverse dynamics. Vectorization of the inverse dynamics computation is achieved while the dynamics formulation still remains within the general linear recursive framework. Parametric studies are conducted on a commercially available pipelined vector processor. The speedup 1.82 is achieved through vectorization for the inverse dynamics computation of a general six-degrees-of-freedom robot manipulator.

Integration Engineering Laboratory
Created by Harry H. Cheng, 2/24/1995