A parallel algorithm for the forward dynamics of planar flexible manipulators

Author

Zhang, Jing Jun ; Ni, Tian Zhi ; Tang, Guan Xiong ; Lu, You Fang

Author_Institution

Hebei Inst. of Archit. Sci. & Technol., Handan, China

Volume

2

fYear

1997

fDate

28-31 Oct 1997

Firstpage

1317

Abstract

With the realization that recursion is not suitable for parallel computation, the paper presents augmented equations for the forward dynamics of planar flexible manipulators by using the virtual power principle and the vector of Lagrange multipliers. Based on augmented equations, a parallel computational scheme and a parallel algorithm with O(n) processors is proposed. Finally, a two-link planar flexible manipulator is chosen as an example to compare the computational efficiency in computer simulation. The results show that the parallel algorithm developed in the paper is efficient

Keywords

computational complexity; computerised control; manipulator dynamics; parallel algorithms; Lagrange multiplier; augmented equations; computational efficiency; computer simulation; forward dynamics; parallel algorithm; parallel computation; planar flexible manipulators; two-link planar flexible manipulator; virtual power principle; Capacitive sensors; Computational efficiency; Computer simulation; Concurrent computing; Deformable models; Equations; Gravity; Lagrangian functions; Manipulator dynamics; Parallel algorithms; Stress;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

0-7803-4253-4

Type

conf

DOI

10.1109/ICIPS.1997.669211

Filename

669211