New parallel algorithm for inverse dynamics

Koichi Hashimoto, Hidenori Kimura

Research output: Contribution to journalArticle

16 Citations (Scopus)

Abstract

This paper proposes a new parallel computational scheme for inverse dynamics based on a new description of the Newton-Euler formulation. This description, which is essentially identical to Kane's formulation for manipulator dynamics, resolves the task of kinematic and dynamic computations into a set of subtasks. The potential parallelism of the serially connected rigid body dynamics is exploited in these subtasks. The parallel scheme, called the resolved Newton-Euler algorithm is mapped onto a model of computation without any complex task scheduling. This model is composed of processing elements with regular and local connections, which is suitable for very large scale intergration (VLSI) implementation. This model allows computation of the resolved Newton-Euler algorithm with an interation interval of 60 floating-point operations and a response time of 60n + 193 floating-point operations for a manipulator with n joints. This efficiency seems to be sufficient for real-time control.

Original languageEnglish
Pages (from-to)63-76
Number of pages14
JournalInternational Journal of Robotics Research
Volume8
Issue number1
DOIs
Publication statusPublished - 1989 Jan 1
Externally publishedYes

ASJC Scopus subject areas

  • Software
  • Modelling and Simulation
  • Mechanical Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Applied Mathematics

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