By Topic

An Efficient p-Fold Parallel Algorithm For Computing Robot Inverse Dynamics

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Lee, C.S.G. ; School of Electrical Engineering, Purdue University, West Lafayette, Indiana ; Chang, P.R.

This paper shows that the time lower bound of computing the inverse dynamics of an n-link robot manipulator parallelly using p processors is O(k1[n/p] + k2[log2 p]), where k1 and k2 are constants. A novel parallel algorithm for computing the inverse dynamics using the Newton-Euler equations of motion was developed to be implemented on an SIMD computer with p procesors to achieve the time lower bound. When p = n, the proposed parallel algorithm achieves the Minsky's time lower bound O([log2n]) [22], which is the conjecture of parallel evaluation. The proposed p-fold parallel algorithm can be best described as consisting of p-parallel blocks with pipelined elements within each parallel block. The results from the computations in the p blocks form a new homogeneous linear recurrence of size p, which can be computed using the recurive doubling algorithm. A modified inverse perfect shuffle interconnection scheme was suggested to interconnect the p processors. Furthermore, the proposed parallel algorithm is susceptible to a systolic pipelined architecture, requiring three floating-point operations (Flops) per complete set of joint torques.

Published in:

American Control Conference, 1986

Date of Conference:

18-20 June 1986