A nonrecursive Newton-Euler formulation for the parallel computation of manipulator inverse dynamics

被引：0

作者：

Zhang, JJ ^{[1
]}

Lu, YF

Wang, B

机构：

[1] Hebei Inst Architectural Sci & Technol, Dept Sci Res, Handan 056038, Peoples R China

[2] Jilin Univ Technol, Dept Math & Mech, Changchun 130025, Peoples R China

[3] Chinese Acad Sci, Robot Lab, Shenyang 110015, Peoples R China

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS | 1998年 / 28卷 / 03期

关键词：

Inverse dynamics; manipulators; parallel algorithm;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper focuses on the inverse dynamics formulation of manipulators that is suitable for parallel computation, and a corresponding nonrecursive Newton-Euler formulation is presented. In order to illustrate its potential parallelism, a simple parallel scheduling scheme is proposed, and the parallel computational efficiency for the inverse dynamics of the basic three Links of a PUMA 560 robot is analyzed. Compared with other algorithms, the theoretical computation cost of this parallel algorithm, in which factors such as communications overhead are ignored, is smaller.

引用

页码：467 / 471

页数：5

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