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
收藏
页码：467 / 471
页数：5
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