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