Distributed Dynamics Computation
Vinzenz Bargsten
In Proceedings of the RIC Project Day "Framework & Standardization" and "Manipulation & Control", 19.6.2014, Selbstverlag, Bremen, series DFKI Documents, volume 14-03 , number 14-03, pages 120-121, Jun/2014. DFKI GmbH. ISBN: ISSN 0946-0098.

Abstract :

This poster presents a method to compute robot motion dynamics distributedly at joint level. In this method, FPGAs controlling the joint actuators are utilized to compute the recursion steps of the Newton-Euler-Algorithm.


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last updated 28.02.2023