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Publication

Distributed Dynamics Computation

Vinzenz Bargsten
DFKI GmbH, DFKI Documents (D), Vol. 14-03 , No. 14-03, ISBN ISSN 0946-0098, Selbstverlag, Bremen, 6/2014.

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.