基于非递推公式的机械臂正动力学的并行计算策略

PARALLEL COMPUTATIONAL SCHEME FOR THE MANIPULATOR FORWARD DYNAMICS BASED ON THE NON-RECURSIVE FORMULATION

利用Ｊｏｕｒｄａｉｎ原理来消除约束反力，并通过引入Ｌａｇｒａｎｇｅ乘子释放约束，得到了机械臂正动力学非递推形式的计算模型．由于在这种模型中引进了一些冗余计算，因此减弱了方程中各计算量之间的依赖性，从而提高了模型的内在并行性．为了尽量减少并行计算所需处理器的数目，本文采用了求解规模缩减技术，并基于这个模型提出了一种面向Ｏ（ｎ）个处理器的机械臂正动力学的并行计算策略．

An augmented computational model for the forward dynamics is developed by using the Jourdain principle and the vector of Lagrange multipliers. Because some redundant computations are introduced, the data dependency in the model is reduced and hence the parallelism of this model is increased. A parallel computational scheme with O(n) processors for the manipulator forward dynamics is presented based on this model.