Parallel Algorithms for Computation of the Manipulator Inertia Matrix

Parallel Algorithms for Computation of the Manipulator Inertia Matrix

This paper presents the development of an O(log 2 N) parallel algorithm for the manipulator inertia matrix. It is based on the most efficient serial algorithm which uses the composite rigid body method. Recursive doubling is used to reformulate the linear recurrence equations which are required to compute the diagonal elements of the matrix. It results in O(log 2 N) levels of computation. Compu...

A decomposition of the manipulator inertia matrix

Parallel Algorithms and Architecture for Computation of Manipulator

In this paper parallel computation of manipulator forward dynamics is investigated. Considering three classes of algorithms for the solution of the problem, that is, the O(n), the O(n2), and the O(n 3) algorithms, parallelism in the problem is analyzed. It is shown that the problem belongs the class of NC and that the time and processors bounds are of O(log2n) and to O(n4), respectively. Howeve...

determination of maximal singularity free zones in the workspace of parallel manipulator

due to the limiting workspace of parallel manipulator and regarding to finding the trajectory planning of singularity free at workspace is difficult, so finding a best solution that can develop a technique to determine the singularity-free zones in the workspace of parallel manipulators is highly important. in this thesis a simple and new technique are presented to determine the maximal singula...

Efficient formulations for the manipulator inertia matrix in terms of minimal linear combinations of inertia parameters

This article summarizes four formulations of the composite body method for the inertia matrix of a manipulator in the earlier works and presents a new formulation. These five formulations all use the first moments and the inertia tensors of composite bodies about the origin of the local frame. This paper also presents an algorithm for computing these first moments and inertia tensors. This algo...