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基于非递推公式的机械臂正动力学的并行计算策略
Alternative TitlePARALLEL COMPUTATIONAL SCHEME FOR THE MANIPULATOR FORWARD DYNAMICS BASED ON THE NON -RECURSIVE FORMULATION
陆佑方; 张京军; 陈塑寰
Department中国科学院沈阳自动化研究所
Source Publication力学学报
ISSN0459-1879
1997
Volume29Issue:3Pages:369-372
Indexed ByCSCD
CSCD IDCSCD:384885
Contribution Rank2
Funding Organization国家自然科学基金,中国科学院机器人学开放研究实验室基金
Keyword机械臂 正动力学 逆动力学 增广方程 递推公式 并行算法
Abstract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.最后以PUMA560机器人的前三个臂为例进行了计算效率分析
Other AbstractAn augmented computational model for the forward dynamics is developed by using the Jourdain principle and the vector of Lag range 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.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15698
Collection沈阳自动化所知识产出(2000年前)
Affiliation1.吉林工业大学工程力学系
2.中科院沈阳自动化所机器人学开放实验室
Recommended Citation
GB/T 7714
陆佑方,张京军,陈塑寰. 基于非递推公式的机械臂正动力学的并行计算策略[J]. 力学学报,1997,29(3):369-372.
APA 陆佑方,张京军,&陈塑寰.(1997).基于非递推公式的机械臂正动力学的并行计算策略.力学学报,29(3),369-372.
MLA 陆佑方,et al."基于非递推公式的机械臂正动力学的并行计算策略".力学学报 29.3(1997):369-372.
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