Parallel computation of manipulator inverse dynamics

DOI10.1002/ROB.4620080504zbMath0737.70002OpenAlexW1996013108MaRDI QIDQ3989146

Amir Fijany, Antal K. Bejczy

Publication date: 28 June 1992

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620080504

zbMATH Keywords

graphparallel computationNewton-Euler formulation6-degree-of-freedom general manipulatorabstract architecturemanipulator inverse dynamicsMIMD-SIMD architecturetarget architecture

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Parallel numerical computation (65Y05)

Related Items (7)

Fast parallel preconditioned conjugate gradient algorithms for robot manipulator dynamics simulation ⋮ Parallel computation of manipulator inverse dynamics ⋮ A multiprocessor testbed for exploring parallel algorithms in robot dynamics ⋮ An efficient algorithm for computation of manipulator inertia matrix ⋮ A state-time formulation for dynamic systems simulation using massively parallel computing resources ⋮ Dynamic simulation of multibody systems using a new state-time methodology ⋮ Cluster computing of mechanisms dynamics using recursive formulation

Cites Work

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• An efficient algorithm for computation of manipulator inertia matrix
• Processor Allocation for Horizontal and Vertical Parallelism and Related Speedup Bounds
• An overview of computational complexity
• Resolved-acceleration control of mechanical manipulators
• A state space model for interconnected rigid bodies
• Parallel computation of manipulator inverse dynamics
• Parallel Solution of Recurrence Problems
• New Classes for Parallel Complexity: A Study of Unification and Other Complete Problems for P

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