A nonrecursive Newton-Euler formulation for the parallelcomputation of manipulator inverse dynamics

摘要

The paper focuses on the inverse dynamics formulation ofnmanipulators that is suitable for parallel computation, and ancorresponding nonrecursive Newton-Euler formulation is presented. Innorder to illustrate its potential parallelism, a simple parallelnscheduling scheme is proposed, and the parallel computational efficiencynfor the inverse dynamics of the basic three links of a PUMA 560 robot isnanalyzed. Compared with other algorithms, the theoretical computationncost of this parallel algorithm, in which factors such as communicationsnoverhead are ignored, is smaller