A transputer based forward dynamics solution for a class of planar manipulators

In the paper the mathematical model describing dynamics of the planar manipulator with flexible links is presented. This model is essentially a system of partial differential equations [1]. These equations describe elastic deformations of the manipulator and its motion, resulting from external forces [2,3]. The numerical solution of forward dynamics, i.e. computation of robot movement (position, velocities, and accelerations) having known exerted forces and torques, is also presented. Calculations can be subdivided into two parts. The first is the solution of motion equations for acceleration variables with use of the Lagrange formalism. The second comprises double integration of the acceleration to compute trajectory of the manipulator (velocities and positions). The mathematical model for such class of flexible manipulators was built with use of a finite elements method [4]. The solution require a large amount of operations due to a large number of degrees of freedom of such system. The algorithm has been implemented in the multiprocessor system and subdivided into several tasks.