TY - GEN
T1 - 2400-MFLOPS reconfigurable parallel VLSI processor for robot control
AU - Fujioka, Yoshichika
AU - Kameyama, Michitaka
PY - 1993/1/1
Y1 - 1993/1/1
N2 - The architecture of a floating-point reconfigurable parallel VLSI processor is proposed to reduce the latency for robot control, because the computation is performed in a feedback loop. In each processor element (PE), a switching hardware is used to change the connection between the multipliers and the adders, so that the multiply-adders having desired numbers of multipliers can be reconstructed. Since the data transfer is performed by the direct connection between the multipliers and adders, the overhead for data transfer is reduced. The chip evaluation based on 0.8 μm CMOS design rule shows that the latency for resolved acceleration control (RAC) computation of a twelve-degrees-of-freedom (DOF) redundant manipulator becomes about 32 μsec which is about sixty times faster than that of a parallel processor approach using conventional digital signal processors (DSPs).
AB - The architecture of a floating-point reconfigurable parallel VLSI processor is proposed to reduce the latency for robot control, because the computation is performed in a feedback loop. In each processor element (PE), a switching hardware is used to change the connection between the multipliers and the adders, so that the multiply-adders having desired numbers of multipliers can be reconstructed. Since the data transfer is performed by the direct connection between the multipliers and adders, the overhead for data transfer is reduced. The chip evaluation based on 0.8 μm CMOS design rule shows that the latency for resolved acceleration control (RAC) computation of a twelve-degrees-of-freedom (DOF) redundant manipulator becomes about 32 μsec which is about sixty times faster than that of a parallel processor approach using conventional digital signal processors (DSPs).
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M3 - Conference contribution
AN - SCOPUS:0027166499
SN - 0818634529
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 149
EP - 154
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
T2 - Proceedings of the IEEE International Conference on Robotics and Automation
Y2 - 2 May 1993 through 6 May 1993
ER -