AN EFFICIENT PARALLEL ALGORITHM FOR INVERSE DYNAMICS OF MANIPULATORS

ZHANG Jingjun, WANG Zhixuan, LU Youfang. AN EFFICIENT PARALLEL ALGORITHM FOR INVERSE DYNAMICS OF MANIPULATORS[J]. ROBOT, 1996, 18(2): 91-96.

Citation:

ZHANG Jingjun, WANG Zhixuan, LU Youfang. AN EFFICIENT PARALLEL ALGORITHM FOR INVERSE DYNAMICS OF MANIPULATORS[J]. ROBOT, 1996, 18(2): 91-96.

Citation:

ZHANG Jingjun, WANG Zhixuan, LU Youfang. AN EFFICIENT PARALLEL ALGORITHM FOR INVERSE DYNAMICS OF MANIPULATORS[J]. ROBOT, 1996, 18(2): 91-96.

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 reference⁴. Compared with some other methods, the computational efficiency of the proposed algorithm seems to be better.

FullText(HTML)

Export File