PARALLELISM IN MANIPULATOR DYNAMICS

被引：53

作者：

LATHROP, RH

机构：

[1] MIT, Artificial Intelligence Lab,, Cambridge, MA, USA, MIT, Artificial Intelligence Lab, Cambridge, MA, USA

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1985年 / 4卷 / 02期

关键词：

COMPUTER PROGRAMMING - Algorithms - DYNAMICS - INTEGRATED CIRCUITS; VLSI - MATERIALS HANDLING - Manipulators;

D O I：

10.1177/027836498500400207

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper addresses the problem of efficiently computing the motor torques required to drive a manipulator arm in free motion, given the desired trajectory - that is the inverse dynamic problem. It analyzes the high degree of parallelism inherent in the computations and presents two 'mathematically exact' formulations especially suited to high-speed, highly parallel implementations using VLSI devices. The first method presented is a parallel version of the recent linear Newton-Euler recursive algorithm. The time cost is linear in the number of joints, but the real-time coefficients are reduced by almost two orders of magnitude. The second formulation reports a new parallel algorithm that shows that it is possible to improve on the linear time dependency.

引用

页码：80 / 102

页数：23