Abstract
Workspace analysis is one of the most essential problems in robotics, but also has the possibility of being very tricky in complex cases. As the number of degrees of freedom increases, the complexity of the problem grows exponentially in some solutions. One possibility is to develop solutions which approximate the workspace for speedup, but this paper explores the possibility of using graphical processing units to parallelize and speed up a forward kinematics-based solution. Particular real-time applications are discussed. It presents a formal analysis of a simple 2D problem, a solution, and the results of an experiment using the solution.
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Kilgo, P., Dixon, B., Anderson, M. (2012). Computing 2D Robot Workspace in Parallel with CUDA. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2012. Lecture Notes in Computer Science(), vol 7628. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34327-8_27
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DOI: https://doi.org/10.1007/978-3-642-34327-8_27
Publisher Name: Springer, Berlin, Heidelberg
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