Title :
A nonrecursive Newton-Euler formulation for the parallel computation of manipulator inverse dynamics
Author :
Zhang, Jing Jun ; Lu, You Fang ; Bin Wang
Author_Institution :
Dept. of Sci. Res., Hebei Inst. of Technol., Tianjin, China
fDate :
8/1/1998 12:00:00 AM
Abstract :
The 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
Keywords :
Newton method; manipulator dynamics; parallel algorithms; scheduling; PUMA 560 robot; communications overhead; manipulator inverse dynamics; nonrecursive Newton-Euler formulation; parallel algorithm; parallel computational efficiency; parallel scheduling scheme; Acceleration; Computational efficiency; Computer architecture; Concurrent computing; Laboratories; Manipulator dynamics; Parallel algorithms; Parallel processing; Processor scheduling; Robots;
Journal_Title :
Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on
DOI :
10.1109/5326.704590
