PARALLEL COMPUTATIONAL SCHEME FOR THE MANIPULATOR FORWARD DYNAMICS BASED ON THE NON-RECURSIVE FORMULATION

doi:10.6052/0459-1879-1997-3-1995-240

Article Contents

Article Navigation > Chinese Journal of Theoretical and Applied Mechanics > 1997 > 29(3): 369-372

PARALLEL COMPUTATIONAL SCHEME FOR THE MANIPULATOR FORWARD DYNAMICS BASED ON THE NON-RECURSIVE FORMULATION[J]. Chinese Journal of Theoretical and Applied Mechanics, 1997, 29(3): 369-372. doi: 10.6052/0459-1879-1997-3-1995-240

Citation:

PARALLEL COMPUTATIONAL SCHEME FOR THE MANIPULATOR FORWARD DYNAMICS BASED ON THE NON-RECURSIVE FORMULATION[J]. Chinese Journal of Theoretical and Applied Mechanics, 1997, 29(3): 369-372. doi: 10.6052/0459-1879-1997-3-1995-240

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PARALLEL COMPUTATIONAL SCHEME FOR THE MANIPULATOR FORWARD DYNAMICS BASED ON THE NON-RECURSIVE FORMULATION

doi: 10.6052/0459-1879-1997-3-1995-240

吉林工业大学工程力学系

Publish Date: 1997-05-25

Abstract

Abstract

An augmented computational model for the forward dynamics is developed by using the Jourdain principle and the vector of Lagrange multipliers. Because some redundant computations are introduced, the data dependency in the model is reduced and hence the parallelism of this model is increased. A parallel computational scheme with O(n) processors for the manipulator forward dynamics is presented based on this model.
- manipulator,
- forward dynamics,
- inverse dynamics,
- augmented equations,
- recursive formulation,
- parallel algorithm