Title :
Hypercube architecture for Newton-Euler dynamics of multiple linked robot
Author :
Nagata, Motoyasu
Author_Institution :
Osaka Electro-Commun. Univ., Japan
Abstract :
The author presents a hypercube parallel algorithm for recursive Newton-Euler dynamics of the multiple linked robot. The relationship between the minimum hypercube dimension and the number of linked arms of the robot is also studied. This result is derived from a rule of internode transmission for hypercube parallel processing of the inverse dynamics
Keywords :
hypercube networks; parallel algorithms; robots; Newton-Euler dynamics; hypercube architecture; hypercube parallel algorithm; hypercube parallel processing; internode transmission; inverse dynamics; minimum hypercube dimension; multiple linked robot; Acceleration; Angular velocity; Equations; Hypercubes; Lagrangian functions; Parallel algorithms; Parallel processing; Parallel robots; Tellurium; Torque;
Conference_Titel :
Industrial Electronics, Control, Instrumentation, and Automation, 1992. Power Electronics and Motion Control., Proceedings of the 1992 International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-0582-5
DOI :
10.1109/IECON.1992.254555
