Title :
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
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;
Conference_Titel :
Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-4253-4
DOI :
10.1109/ICIPS.1997.669211
