机械臂惯性矩阵的并行计算

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，并以ＰＵＭＡ５６０机器人的前３个臂为例进行了计算效率分析

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.

国家自然科学基金,中科院机器人学开放研究实验室基金