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

Volume

28

Issue

3

fYear

1998

fDate

8/1/1998 12:00:00 AM

Firstpage

467

Lastpage

471

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;

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on

Publisher

ieee

ISSN

1094-6977

Type

jour

DOI

10.1109/5326.704590

Filename

704590