NDLI: An explicit recursive formulation and parallel computation for inverse dynamics of planar flexible manipulators

Content Provider	IEEE Xplore Digital Library
Author	Jian Qi Zou Jing Jun Zhang You Fang Lu Bin Wang
Copyright Year	1997
Description	Author affiliation: Jilin Archit. & Civil Eng. Inst., Changchun, China (Jian Qi Zou)
Abstract	An explicit recursive formulation for the inverse dynamics of planar flexible manipulators is presented by the virtual work principle and an approximate algorithm is developed at the same time. With the realization that a recursion is not suitable for parallel computation, a nonrecursive formulation for the inverse dynamics of planar flexible manipulators is obtained by modifying the recursive formulation. Based on the nonrecursive formulation, a parallel algorithm using n processors is proposed in this paper. Finally, a two-link planar flexible manipulator is chosen as an example to compare the computational efficiency of the explicit recursive formulation and the parallel algorithm in the computer simulation.
Starting Page	906
Ending Page	909
File Size	330424
Page Count	4
File Format	PDF
ISBN	0780339363
DOI	10.1109/ISIE.1997.648843
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-07-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Concurrent computing Manipulator dynamics Parallel algorithms Computational efficiency Lagrangian functions Transmission line matrix methods Equations Computer simulation Processor scheduling Books
Content Type	Text
Resource Type	Article

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