A NOVEL PARALLEL RECURSIVE NEWTON-EULER ALGORITHM FOR MODELING AND COMPUTATION OF ROBOT DYNAMICS

Authors
ABDALLA E PU HJ MULLER M TANTAWY AA ABDELATIF L ELDIN HN
Citation
E. Abdalla et al., A NOVEL PARALLEL RECURSIVE NEWTON-EULER ALGORITHM FOR MODELING AND COMPUTATION OF ROBOT DYNAMICS, Mathematics and computers in simulation, 37(2-3), 1994, pp. 227-240
Citations number
7
Categorie Soggetti
Computer Sciences",Mathematics,"Computer Science Interdisciplinary Applications","Computer Science Software Graphycs Programming
Journal title
Mathematics and computers in simulation → ACNP
ISSN journal
03784754
Volume
37
Issue
2-3
Year of publication
1994
Pages
227 - 240
Database
ISI
SICI code
0378-4754(1994)37:2-3<227:ANPRNA>2.0.ZU;2-0
Abstract
The recursive Newton-Euler formulation to compile or compute the robot dynamics is essential for problems of robot simulation as well as for robot inverse dynamics. Beside the established form of computation in outward (forward) and inward (backward) recursion, several schemes th at exploit inherent parallelisms have been recently reported and used in distributed real time computation of robot dynamics. In this paper, the basic physical potential for such parallelism is addressed. Besid e modified regrouping of such recursion, novel individual recursive eq uations for the Inertial, Coupling and Gravitational Dynamics of the r obot are introduced.