PARALLEL COMPUTATION FOR THE MANIPULATOR INERTIA MATRIX

ZOU Jianqi, YIN Chaowan, ZHANG Jingjun, LU Youfang. PARALLEL COMPUTATION FOR THE MANIPULATOR INERTIA MATRIX[J]. ROBOT, 1997, 19(5): 344-349.

Citation:

ZOU Jianqi, YIN Chaowan, ZHANG Jingjun, LU Youfang. PARALLEL COMPUTATION FOR THE MANIPULATOR INERTIA MATRIX[J]. ROBOT, 1997, 19(5): 344-349.

Citation:

ZOU Jianqi, YIN Chaowan, ZHANG Jingjun, LU Youfang. PARALLEL COMPUTATION FOR THE MANIPULATOR INERTIA MATRIX[J]. ROBOT, 1997, 19(5): 344-349.

Abstract

Based on the non-recursive formulation for the manipulator inverse dynamics developed in this paper and the method 1 of Walker and Orin¹,this paper presents a parallel algorithm oriented to O(n) multiprocessors for the manipulator inertia matrix.As an example, the first three links of a PUMA560 robot are considered, and the computational efficiency is compared with other published methods.

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