Abstract：This paper presents an efficient parallel algorithm for the inverse dynamics of rigid manipulator based on the improved recursive Newton-Euler formulation developed by reference[4]. Compared with some other methods, the computational efficiency of the proposed algorithm seems to be better.
[1] Luh J Y S, Walker M W .Paul R P C. On-Line Computational Scheme for Mechanical Manipulators. Journal of Dynamic Systems, Measurement, and Control, 1980,102:69-76
[2] Hollerbach J M. A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamics Formulation Complexity. IEEE Trans Syst Man and Cybern, 1980,SMC-10:730-736
[3] Kogge P M, Stone H S. A Parallel Algorithm for the Efficient Solution of a General Class of Recurrence Equations. IEEE Trana Comput, 1973, C-22, 798-793
[4] He X G. Goldenberg A A. An Algorithm for Efficient Computation of Dynamics of Robotic Manipulators. Journal of Robotic Systems, 1990. 7(5):689-702
[5] Hashimoto K, Kimura H. A New Parallel Algorithm for Inverse Dynamics. The International Journal of Robotics Research, 1989, 8(1);63-76
[6] Kasahara H, Narita S. Parallel Processing of Rohot-Arm Control Computation on a Multimicroprocessor System. IEEE Journal of Robotics and Automation, 1985, RA-1(2):104-113
[7] Lee C S G, Chang P R. Efficient Parallel Algorithm for Robot inverse Dynamics Computation. IEEE Trans Syst Man and Cybern, 1986, SMC-16(4):532-542
[8] Binder E E, Herzog J H. Distributed Computer Architecture and Fast Parallel Algorithms in Real-Time Robot Control.IEEE Trans 5yst Man and Cybern, 198fi, SMC-16(4)543-549
[9] Nigam R. Lee C S G. A Multiprocessor-Based Controller for the Control of Mechanical Manipulators. IEEE Journal of Robotics and Automation, 1985,RA-I ( 4 ):173-182
[10] Luh J Y S, Lin C S. Scheduling of Parallel Computation for a Computer Controlled Mechanical Manipulator. IEEE Trans Syst Man and Cybern, 1982,SMC-12:214-234
[11] 王庆国,林建亚,路甭祥.机器人的运动学与动力学.机器人,1990.12(1);58-64
