A parallel algorithm for the forward dynamics of planar flexible manipulators

被引：0
|
作者：
Zhang, JJ [1 ]
Ni, TZ [1 ]
Tang, GX [1 ]
Lu, YF [1 ]
机构：
[1] Hebei Inst Architectural Sci & Technol, Handan 056038, Peoples R China
来源：
1997 IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT PROCESSING SYSTEMS, VOLS 1 & 2 | 1997年
关键词：
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：
With the realization of a recursion is not suitable for parallel computation, this paper presents augmented equations for the forward dynamics of planar flexible manipulators by using the virtual power principle and the vector of Lagrange multipliers. Based on the augmented equations, a parallel computational scheme and a parallel algorithm with 0(n) processors is proposed. Finally, a two-link planar flexible manipulator is chosen as an example to compare the computational efficiency in computer simulation. The results show that the parallel algorithm developed in this paper is efficient.
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收藏
页码：1317 / 1321
页数：5
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