Parallel computational algorithms for the simulation of closed-loop robotic systems

Author

Wang, Jiegao ; Gosselin, Clément M.

Author_Institution

Dept. de Genie Mecanique, Laval Univ., Que., Canada

fYear

2000

fDate

2000

Firstpage

34

Lastpage

38

Abstract

A new approach for the modelling and parallel simulation of closed-loop robotic systems is proposed in this paper. This approach uses virtual springs and dampers to include the closed-loop constraints thereby avoiding the solution of differential-algebraic equations. Moreover, it can lead to a completely decoupled dynamic model of parallel robotic manipulators which is ideal for the parallel computation of the simulation of parallel robotic manipulators. Examples illustrating the approach are given

Keywords

closed loop systems; digital simulation; manipulators; parallel algorithms; closed-loop robotic systems simulation; completely decoupled dynamic model; dampers; differential-algebraic equations; parallel computational algorithms; parallel robotic manipulators; virtual springs; Computational modeling; Concurrent computing; Damping; Delay; Differential equations; Displays; Manipulator dynamics; Parallel robots; Shock absorbers; Springs;

fLanguage

English

Publisher

ieee

Conference_Titel

Parallel Computing in Electrical Engineering, 2000. PARELEC 2000. Proceedings. International Conference on

Conference_Location

Trois-Rivieres, Que.

Print_ISBN

0-7695-0759-X

Type

conf

DOI

10.1109/PCEE.2000.873597

Filename

873597