DocumentCode
2262961
Title
Parallel implementation of Newton-Euler algorithm with one step ahead predictions
Author
Yamakita, M. ; Hoshino, Y. ; Morimoto, K. ; Furuta, K.
Author_Institution
Tokyo Inst. of Technol., Japan
fYear
1991
fDate
25-28 Mar 1991
Firstpage
364
Abstract
Proposes a new control algorithm using a parallel Newton-Euler algorithm of inverse dynamics of manipulators whose computational time is independent of a number of links. It is shown that one step ahead predictions have a crucial role in the algorithm. The effectiveness of the proposed algorithm is shown by extensive numerical simulations. The validity of the proposed algorithm is shown by only numerical simulations
Keywords
approximation theory; dynamics; parallel algorithms; robots; Newton-Euler algorithm; inverse dynamics; one step ahead predictions; parallel algorithms;
fLanguage
English
Publisher
iet
Conference_Titel
Control 1991. Control '91., International Conference on
Conference_Location
Edinburgh
Print_ISBN
0-85296-509-5
Type
conf
Filename
98476
Link To Document