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In order to solve the perpendicularity of robotic drilling in the aircraft assembly, this paper proposed a novel surface normal measurement method for the aeronautical drilling robot. Firstly, vision location module is used to mark the drilling point and get the coordinate of drilling point. Meanwhile, four laser range sensors start to measure the distance between the emitting laser points and their...
This paper presents a parallel architecture of an QR decomposition systolic array based on the Givens rotations algorithm on FPGA. The proposed architecture adopts a direct mapping by 21 fixed-point CORDIC-based process units that can compute the QR decomposition for an 4×4 real matrix. In order to achieve a comprehensive resource and performance evaluation, the computational error analysis, the resource...
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