Title :
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
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;
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
DOI :
10.1109/PCEE.2000.873597
