摘要
本文在给出一种非递推形式的逆动力学计算公式的基础上，针对机械臂惯性矩阵的计算提出了一种面向Ｏ（ｎ）个处理器的并行算法。
Based on the non recursive formulation for the manipulator inverse dynamics developed in this paper and the method 1 of Walker and Orin , 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.
出处
《机器人》
EI
CSCD
北大核心
1997年第5期344-349,共6页
Robot
基金
国家自然科学基金
中科院机器人学开放研究实验室基金
关键词
机械臂
惯性矩阵
并行计算
机器人
Manipulator, inertia matrix, parallel algorithm, inverse dynamics, forward dynamics
