4 research outputs found
Parallel algorithm and architecture for the control of kinematically redundant manipulators, A
- Publication venue
- 'Institute of Electrical and Electronics Engineers (IEEE)'
- Publication date
- 01/01/1994
- Field of study
Includes bibliographical references (pages 413-414).Kinematically redundant manipulators are inherently capable of more dexterous manipulation due to their additional degrees of freedom. To achieve this dexterity, however, one must be able to efficiently calculate the most desirable configuration from the infinite number of possible configurations that satisfy the end-effector constraint. It has been previously shown that the singular value decomposition (SVD) plays a crucial role in doing such calculations. In this work, a parallel algorithm for calculating the SVD is incorporated into a computational scheme for solving the equations of motion for kinematically redundant systems. This algorithm, which generalizes the damped least squares formulation to include solutions that utilize null-space projections and task prioritization as well as augmented or extended Jacobians, is then implemented on a simple linear array of processing elements. By taking advantage of the error bounds on the perturbation of the SVD, it is shown that an array of only four AT&T DSP chips can result in control cycle times of less than 3 ms for a seven degree-of-freedom manipulator
International Voluntary Associations, Local Social Movements and State Paths to the Abolition of Regulated Prostitution in Europe, 1875–1950
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- Association for Moral and Social Hygiene
- Association for Moral and Social Hygiene
- Association for Moral and Social Hygiene
- Association for Moral and Social Hygiene
- Association for Moral and Social Hygiene
- Berkovitch Nitza
- Bernstein Laurie
- Bock Gisela
- Boli John
- Bristow Edward J.
- Bristow Edward J.
- British Committee of the Federation for the Abolition of the State Regulation of Vice
- British Committee of the Federation for the Abolition of the State Regulation of Vice
- British Committee of the Federation for the Abolition of the State Regulation of Vice
- British Committee of the Federation for the Abolition of the State Regulation of Vice
- British Committee of the Federation for the Abolition of the State Regulation of Vice
- British Continental, and General Federation for the Abolition of Government Regulation of Prostitution
- British Continental, and General Federation for the Abolition of Government Regulation of Prostitution
- British Continental, and General Federation for the Abolition of Government Regulation of Prostitution
- British Continental, and General Federation for the Abolition of Government Regulation of Prostitution
- Bullough Vern
- Burton Antoinette
- Butler Josephine E.
- Butler Josephine E.
- Butler Josephine E.
- Butler Josephine E.
- Butler Josephine E.
- Coote William Alexander
- Coote William Alexander
- Corbin Alain
- Crowdy Rachel E.
- Enloe Cynthia
- Evans Richard J.
- Federation for the Abolition of the State Regulation of Vice
- Finnemore Martha
- Flexner Abraham
- Gibson Mary
- Gregory Maurice
- Gregory Maurice
- Guy Donna J.
- Harsin Jill
- Hyam Ronald
- International Abolitionist Federation
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- Jenkins J. Craig
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- Offen Karen
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Quellen- und Literaturverzeichnis
- Author
- Albisetti James
- Albisetti Peter Lundgreen
- Alings Reinhard
- Alter Peter
- Anderson Benedict
- Andresen Sabine
- Ankum
- Appelt Erna
- Asche Susanne
- Ascheid Antje
- Aschmann Birgit
- Assmann Aleida
- Assmann Jan
- Assmann Jan
- Assmann Jan
- Baer Hester
- Barth Boris
- Barth Dieter
- Barthes Roland
- Baumgartner Antialkoholbewegung
- Becher Ursula
- Becker Eva D
- Becker Frank
- Belach Helga
- Belgum Kirsten
- Berding Helmut
- Berg Christa
- Berg Christa
- Bergen Doris L
- Berghahn Volker R
- Berghoff Peter
- Beßlich Barbara
- Blamberger Günter
- Blom Karen
- Bock Gisela
- Bock Irmgard
- Borst Arno
- Borutta Manuel
- Bottomore Stephen
- Bovenschen Silvia
- Brakensiek Regine
- Brandt
- Brandt Bettina
- Braun Brigitte
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- Braungart Wolfgang
- Brinker-Gabler Karola
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- Brunn Gerhard
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- Busch Rolf
- Buschmann Nikolaus
- Butler Judith
- Butzer Günter
- Börsch-Supan Helmut
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