{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,12,28]],"date-time":"2024-12-28T04:40:11Z","timestamp":1735360811165,"version":"3.32.0"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"1-2","license":[{"start":{"date-parts":[[1994,2,1]],"date-time":"1994-02-01T00:00:00Z","timestamp":760060800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[1994,2]]},"DOI":"10.1007\/bf01258312","type":"journal-article","created":{"date-parts":[[2005,3,23]],"date-time":"2005-03-23T21:53:38Z","timestamp":1111614818000},"page":"25-43","source":"Crossref","is-referenced-by-count":4,"title":["Parallel VLSI architectures for real-time kinematics of redundant robots"],"prefix":"10.1007","volume":"9","author":[{"given":"Ian D.","family":"Walker","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joseph R.","family":"Cavallaro","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"issue":"6","key":"CR1","doi-asserted-by":"crossref","first-page":"939","DOI":"10.1109\/21.23092","volume":"18","author":"M. Amin-Javaheri","year":"1988","unstructured":"Amin-Javaheri, M. and Orin, D. E., Systolic architectures for the manipulator inertia matrix,IEEE Trans. Systems Man, Cybernet. 18(6), 939?951 (1988).","journal-title":"IEEE Trans. Systems Man, Cybernet."},{"issue":"3","key":"CR2","first-page":"242","volume":"1","author":"R. P. Brent","year":"1985","unstructured":"Brent, R. P., Luk, F. T. and Van Loan, C. F., Computation of the singular value decomposition using mesh-connected processors,J. VLSI Comput. Systems 1(3), 242?270 (1985).","journal-title":"J. VLSI Comput. Systems"},{"doi-asserted-by":"crossref","unstructured":"Butner, S. E., Wang, Y., Mangaser, A. and Jordan, S., Design and simulation of RIPS: An advanced robot control system, inProc. 1988 IEEE Conf. Robotics and Automation, Philadelphia, PA, 1988, pp. 470?474.","key":"CR3","DOI":"10.1109\/ROBOT.1988.12096"},{"doi-asserted-by":"crossref","unstructured":"Cavallaro, J. R., Keleher, M. P., Price, R. H. and Thomas, G. S., VLSI implementation of a CORDIC SVD processor,Proc. 8th Biennial University\/Government\/Industry Microelectronics Symposium, June 1989, pp. 256?260.","key":"CR4","DOI":"10.1109\/UGIM.1989.37346"},{"issue":"3","key":"CR5","doi-asserted-by":"crossref","first-page":"271","DOI":"10.1016\/0743-7315(88)90021-4","volume":"5","author":"J. R. Cavallaro","year":"1988","unstructured":"Cavallaro, J. R. and Luk, F. T., CORDIC Arithmetic for an SVD processor,J. of Parallel and Distributed Computing 5(3), 271?290 (1988).","journal-title":"J. of Parallel and Distributed Computing"},{"issue":"5","key":"CR6","doi-asserted-by":"crossref","first-page":"569","DOI":"10.1109\/70.88077","volume":"5","author":"P. R. Chang","year":"1989","unstructured":"Chang, P. R. and Lee, C. S. G., Residue arithmetic VLSI array architecture for manipulator pseudo-inverse Jacobian computation,IEEE Trans. Robot. Automat. 5(5), 569?582 (1989).","journal-title":"IEEE Trans. Robot. Automat."},{"unstructured":"Chen, D. C. and Price, R. H., A real-time TMS320C40 based parallel system for high rate digital signal processing, inProc. 1991 IEEE ICASSP, Toronto, Canada, 1991, pp. 1573?1576.","key":"CR7"},{"issue":"5","key":"CR8","doi-asserted-by":"crossref","first-page":"600","DOI":"10.1109\/70.88079","volume":"5","author":"A. Fijany","year":"1989","unstructured":"Fijany, A. and Bejczy, A. K., A class of parallel algorithms for computation of the manipulator inertia matrix.IEEE Trans. Robot. Automat. 5(5), 600?615 (1989).","journal-title":"IEEE Trans. Robot. Automat."},{"key":"CR9","volume-title":"Matrix Computations","author":"G. H. Golub","year":"1989","unstructured":"Golub, G. H. and Van Loan, C. F.,Matrix Computations, 2nd edn, Johns Hopkins Univ. Press, Baltimore, MD, 1989.","edition":"2nd edn"},{"issue":"5","key":"CR10","doi-asserted-by":"crossref","first-page":"543","DOI":"10.1109\/70.88074","volume":"5","author":"J. H. Graham","year":"1989","unstructured":"Graham, J. H., Special computer architectures for robotics: Tutorial and survey.IEEE Trans. Robot. Automat. 5(5), 543?554 (1989).","journal-title":"IEEE Trans. Robot. Automat."},{"doi-asserted-by":"crossref","unstructured":"Harber, R. G., Li, J., Hu, X. and Bass, S. C., The application of bit-serial CORDIC computational units to the design of inverse kinematics processors, inProc. 1988 IEEE Conf. Robotics and Automation, Philadelphia, PA, 1988, pp. 1152?1157.","key":"CR11","DOI":"10.1109\/ROBOT.1988.12217"},{"doi-asserted-by":"crossref","unstructured":"Hemkumar, N. D., Kota, K. and Cavallaro, J. R., CAPE ? VLSI implementation of a systolic processor array: architecture, design and testing,Proc. 9th IEEE Biennial University\/Government\/Industry Microelectronics Symposium, June 1991, pp. 64?69.","key":"CR12","DOI":"10.1109\/UGIM.1991.148123"},{"issue":"4","key":"CR13","first-page":"169","volume":"6","author":"T. C. Hsia","year":"1991","unstructured":"Hsia, T. C., Current, K. W., Mao, Z., Chu, W. S., Liu, J., Lu, G. Z. and Han, W. H., A proposed new VLSI architecture for real-time robot manipulator control,Int. J. Robot. Automat. 6(4), 169?178 (1991).","journal-title":"Int. J. Robot. Automat."},{"key":"CR14","first-page":"101","volume-title":"Parallel Processing in Control: the Transputer and Other Architectures","author":"D. I. Jones","year":"1988","unstructured":"Jones, D. I. and Fleming, P. J., Control applications of transputers, in P. J. Fleming (ed),Parallel Processing in Control: the Transputer and Other Architectures, Peter Peregrinus Ltd., London, 1988, pp. 101?125."},{"unstructured":"Kameyama, M., Matsumoto, T., Egami, H. and Higuchi, T., Implementation of a high performance LSI for inverse kinematics computation, inProc. 1989 IEEE Conf. Robotics and Automation, Scottsdale, AZ, 1988, pp. 757?762.","key":"CR15"},{"issue":"2","key":"CR16","doi-asserted-by":"crossref","first-page":"164","DOI":"10.1109\/TAC.1980.1102314","volume":"25","author":"V. C. Klema","year":"1980","unstructured":"Klema, V. C. and Laub, A. J., The singular value decomposition: Its computation and some applications,IEEE Trans. Automat. Control AC-25(2), 164?176 (1980).","journal-title":"IEEE Trans. Automat. Control"},{"issue":"5","key":"CR17","doi-asserted-by":"crossref","first-page":"445","DOI":"10.1109\/JRA.1987.1087126","volume":"3","author":"C. S. G. Lee","year":"1987","unstructured":"Lee, C. S. G. and Chang, P. R., A maximum pipelined CORDIC architecture for inverse kinematic position computation,IEEE J. Robot. Automat. RA-3(5), 445?458 (1987).","journal-title":"IEEE J. Robot. Automat."},{"issue":"3","key":"CR18","doi-asserted-by":"crossref","first-page":"582","DOI":"10.1109\/21.57271","volume":"20","author":"C. S. G. Lee","year":"1990","unstructured":"Lee, C. S. G. and Chen, C. L., Efficient mapping algorithms for scheduling robot inverse dynamics computation on a multiprocessor system,IEEE Trans. Systems Man Cybernet. 20(3), 582?595 (1990).","journal-title":"IEEE Trans. Systems Man Cybernet."},{"issue":"4","key":"CR19","doi-asserted-by":"crossref","first-page":"281","DOI":"10.1109\/JRA.1987.1087106","volume":"3","author":"S. S. Leung","year":"1987","unstructured":"Leung, S. S. and Shanblatt, M. A., Real-time DKS on a single chip,IEEE Trans. Robot. Automat. 3(4), 281?290 (1987).","journal-title":"IEEE Trans. Robot. Automat."},{"doi-asserted-by":"crossref","unstructured":"Leung, S. S. and Shanblatt, M. A., Computer architecture design for robotics, inProc. 1988 IEEE Conf. Robotics and Automation, Philadelphia, PA, 1988, pp. 453?456.","key":"CR20","DOI":"10.1109\/ROBOT.1988.12092"},{"key":"CR21","doi-asserted-by":"crossref","first-page":"231","DOI":"10.1017\/S0263574700010286","volume":"9","author":"C. J. Li","year":"1991","unstructured":"Li, C. J., Hemami, A. and Sankar, T. S., An efficient computational method of the Jacobian for robot manipulators,Robotica 9, 231?234 (1991).","journal-title":"Robotica"},{"doi-asserted-by":"crossref","unstructured":"Maciejewski, A. A. and Reagin, J. M., A parallel algorithm and architecture for the control of kinematically redundant manipulators, inProc. 1992 IEEE Conf. Robotics and Automation, Nice, France, 1992, pp. 488?493.","key":"CR22","DOI":"10.1109\/ROBOT.1992.220293"},{"issue":"6","key":"CR23","doi-asserted-by":"crossref","first-page":"769","DOI":"10.1002\/rob.4620060607","volume":"6","author":"D. N. Nenchev","year":"1989","unstructured":"Nenchev, D. N., Redundancy resolution through local optimization: A review.J. Robotic Systems 6(6), 769?798 (1989).","journal-title":"J. Robotic Systems"},{"key":"CR24","first-page":"39","volume-title":"Computer Architectures for Robotics and Automation","author":"D. E. Orin","year":"1987","unstructured":"Orin, D. E., Olson, K. W. and Chao, H. H., Systolic architectures for computation of the Jacobian for robot manipulators, in J. H. Graham (ed),Computer Architectures for Robotics and Automation. Gordon and Breach, London, 1987, pp. 39?67."},{"issue":"4","key":"CR25","doi-asserted-by":"crossref","first-page":"66","DOI":"10.1177\/027836498400300404","volume":"3","author":"D. E. Orin","year":"1984","unstructured":"Orin, D. E. and Schrader, W. W., Efficient computation of the Jacobian for robot manipulators,Int. J. Robot. Res. 3(4), 66?75 (1984).","journal-title":"Int. J. Robot. Res."},{"key":"CR26","volume-title":"A parallel approach for solving matrix multiplication on the TMS320C4x DSP, Technical report","author":"R. M. Piedra","year":"1991","unstructured":"Piedra, R. M., A parallel approach for solving matrix multiplication on the TMS320C4x DSP, Technical report, Texas Instruments DSP Application Report, Houston, TX, 1991."},{"issue":"5","key":"CR27","doi-asserted-by":"crossref","first-page":"583","DOI":"10.1109\/70.88078","volume":"5","author":"P. Sadayappan","year":"1989","unstructured":"Sadayappan, P., Ling, Y. L. C., Olson, K. W. and Orin, D. E., A restructurable VLSI robotics vector processor architecture for real-time control,IEEE Trans. Robot. Automat. 5(5), 583?599 (1989).","journal-title":"IEEE Trans. Robot. Automat."},{"issue":"3","key":"CR28","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1007\/BF00126069","volume":"3","author":"B. Siciliano","year":"1990","unstructured":"Siciliano, B., Kinematic control of redundant robot manipulators: A tutorial,J. Intelligent and Robotic Systems 3(3), 201?210 (1990).","journal-title":"J. Intelligent and Robotic Systems"},{"issue":"3","key":"CR29","doi-asserted-by":"crossref","first-page":"217","DOI":"10.1016\/0045-7906(91)90037-Z","volume":"17","author":"A. Smiarowski Jr.","year":"1991","unstructured":"Smiarowski, A. Jr. and Anderson, J. N., A fast computer architecture for the control of robots,Comput. Elec. Eng. 17(3), 217?235 (1991).","journal-title":"Comput. Elec. Eng."},{"key":"CR30","volume-title":"Robot Dynamics and Control","author":"M. W. Spong","year":"1989","unstructured":"Spong, M. W. and Vidyasagar, M.,Robot Dynamics and Control, Wiley, New York, 1989."},{"issue":"5","key":"CR31","doi-asserted-by":"crossref","first-page":"555","DOI":"10.1109\/70.88076","volume":"5","author":"V. D. Tourassis","year":"1989","unstructured":"Tourassis, V. D. and Ang, M. H. Jr., A modular architecture for inverse robot kinematics,IEEE Trans. Robot. Automat. 5(5), 555?568 (1989).","journal-title":"IEEE Trans. Robot. Automat."},{"issue":"3","key":"CR32","doi-asserted-by":"crossref","first-page":"330","DOI":"10.1109\/TEC.1959.5222693","volume":"8","author":"J. Volder","year":"1959","unstructured":"Volder, J., The CORDIC trigonometric computing technique,IRE Trans. Elec. Comput. EC-8(3), 330?334 (1959).","journal-title":"IRE Trans. Elec. Comput."},{"unstructured":"Walker, I. D., The use of kinematic redundancy in reducing impact and contact effects in manipulation, inProc. 1990 IEEE Conf. Robotics and Automation, Cincinnati, OH, 1990, pp. 434?439.","key":"CR33"},{"unstructured":"Walker, I. D. and Cavallaro, J. R., Parallel VLSI architectures for real-time control of redundant robots, inProc. 1991 American Nuclear Society Meeting on Robotics and Remote Systems, Albuquerque, NM, 1991, pp. 299?310.","key":"CR34"},{"issue":"3","key":"CR35","doi-asserted-by":"crossref","first-page":"350","DOI":"10.1109\/56.795","volume":"4","author":"I. D. Walker","year":"1988","unstructured":"Walker, I. D. and Marcus, S. I., Subtask performance by redundancy resolution for redundant robot manipulators,IEEE J. Robot. Automat. 4(3), 350?354 (1988).","journal-title":"IEEE J. Robot. Automat."},{"doi-asserted-by":"crossref","unstructured":"Walther, J. S., A unified algorithm for elementary functions,AFIPS Spring Joint Computer Conf., 1971, pp. 379?385.","key":"CR36","DOI":"10.1145\/1478786.1478840"},{"doi-asserted-by":"crossref","unstructured":"Wang, Y. and Butner, S. E., A new architecture for robot control, inProc. 1987 IEEE Conf. Robotics and Automation, Raleigh, NC, 1987, pp. 664?670.","key":"CR37","DOI":"10.1109\/ROBOT.1987.1087952"},{"issue":"2","key":"CR38","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1109\/TMMS.1969.299896","volume":"10","author":"D. E. Whitney","year":"1969","unstructured":"Whitney, D. E., Resolved motion rate control of manipulators and human prostheses,IEEE Trans. Man Machine Systems MMS-10(2), 47?53 (1969).","journal-title":"IEEE Trans. Man Machine Systems"},{"issue":"5","key":"CR39","doi-asserted-by":"crossref","first-page":"1154","DOI":"10.1109\/21.44031","volume":"19","author":"T. B. Yeung","year":"1989","unstructured":"Yeung, T. B. and Lee, C. S. G., Efficient parallel algorithms and VLSI architectures for manipulator Jacobian calculation,IEEE Trans. Systems Man Cybernet. 19(5), 1154?1166 (1989).","journal-title":"IEEE Trans. Systems Man Cybernet."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/BF01258312.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/BF01258312\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/BF01258312","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,12,28]],"date-time":"2024-12-28T03:28:41Z","timestamp":1735356521000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/BF01258312"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,2]]},"references-count":39,"journal-issue":{"issue":"1-2","published-print":{"date-parts":[[1994,2]]}},"alternative-id":["BF01258312"],"URL":"https:\/\/doi.org\/10.1007\/bf01258312","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[1994,2]]}}}