An explicit recursive formulation and parallel computation for inverse dynamics of planar flexible manipulators

An explicit recursive formulation for the inverse dynamics of planar flexible manipulators is presented by the virtual work principle and an approximate algorithm is developed at the same time. With the realization that a recursion is not suitable for parallel computation, a nonrecursive formulation for the inverse dynamics of planar flexible manipulators is obtained by modifying the recursive formulation. Based on the nonrecursive formulation, a parallel algorithm using n processors is proposed in this paper. Finally, a two-link planar flexible manipulator is chosen as an example to compare the computational efficiency of the explicit recursive formulation and the parallel algorithm in the computer simulation.