A Class of “Parallel-Serial” Manipulators and Their Application to Material Handling Automation
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Near-Minimum-Time Motion Planning of Manipulators along Specified Path
The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...
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A systolic serial multiplier for unsigned numbers is presented which operates without zero words inserted between successive data words, outputs the full product and has only one clock cycle latency. 
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متن کاملDesign and Implementation of a High Speed Systolic Serial Multiplier and Squarer for Long Unsigned Integer Using VHDL
A systolic serial multiplier for unsigned numbers is presented which operates without zero words inserted between successive data words, outputs the full product and has only one clock cycle latency. The multiplier is based on a modified serial/parallel scheme with two adjacent multiplier cells. Systolic concept is a well-known means of intensive computational task through replication of func...
متن کامل1996 International Conference on Robotics and Automation c 1996 IEEEMinneapolis
c 1996 IEEE Minneapolis, MN, 1996 Motion Planning for Multiple Mobile Manipulators Jaydev Desai, Chau-Chang Wang, Milo s Zefran and Vijay Kumar General Robotics and Active Sensory Perception (GRASP) Laboratory, University of Pennsylvania 3401 Walnut Street, Room 301C, Philadelphia, PA 19104-6228 Abstract We address the motion planning for \ xtureless" material-handling with multiple manipulator...
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