机械臂逆动力学的一种并行算法

A Parallel Algorithm for the Inverse Dynamics of Manipulators

本文在对刚性机械臂逆动力学的递推公式研究的基础上,针对递推形式的 Lagrange-Euler 方法提出了一种并行算法,并在计算效率上与不采用并行计算的 Lagrange—Euler 法作了比较,其结果是令人满意的.

on the basis of studying the recursive formula of the rigid manipulator inverse dynamics. towards the Lagrange—Euler recursive method,we have,in this paper,put forward a paral- lel algorithm for it,and compared with the recursive Lagrange—Euler method in computa- tionl efficiency,the result is satisfactory.