A Parallel Solution of Inverse Kinematics for the RTX Robot using Ada and Transputers. Velastin, S. A & Hamdi, T. M In Intelligent Robots and Systems, 1992., Proceedings of the 1992 lEEE/RSJ International Conference on, volume 2, pages 1208--1212, 1992. IEEE.
bibtex   
@inproceedings{velastin1992parallel,
  title={A Parallel Solution of Inverse Kinematics for the RTX Robot using Ada and Transputers},
  author={Velastin, Sergio A and Hamdi, Tarig M},
  booktitle={Intelligent Robots and Systems, 1992., Proceedings of the 1992 lEEE/RSJ International Conference on},
  volume={2},
  pages={1208--1212},
  year={1992},
  organization={IEEE}
}

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