Matrix Chain Multiplication and Equivalent Reduced-Order Parallel Calculation Method for a Robotic Arm

Intelligence development has put forward increasing requirements of real-time planning and dynamic feedback in controlling robotic arms. It become essential engineering applications to complete the kinematics calculation complex manipulators real time. This paper proposes a matrix cascading multiplication equivalent reduced-order parallel computing method for homogeneous matrices process inverse solutions, which reduces order according distribution zero vectors calculations. The removes unnecessary joint matrixes containing vectors. obtains optimal cascade through searches, improving efficiency effective dot product by computation. Calculation processes specific examples are presented this paper. Compared with previous algorithms, proposed algorithm cycle 90%, effectively control process.