闭环机器人系统仿真的并行计算算法

Proceedings International Conference on Parallel Computing in Electrical Engineering. PARELEC 2000 Pub Date : 2000-08-27 DOI:10.1109/PCEE.2000.873597

J. Wang, C. Gosselin

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引用次数: 4

摘要

本文提出了一种闭环机器人系统建模与并行仿真的新方法。该方法使用虚拟弹簧和阻尼器来包含闭环约束，从而避免了微分代数方程的求解。此外，该方法还可以得到完全解耦的并联机器人动力学模型，为并联机器人仿真的并行计算提供了理想的方法。给出了说明该方法的实例。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Parallel computational algorithms for the simulation of closed-loop robotic systems

A new approach for the modelling and parallel simulation of closed-loop robotic systems is proposed in this paper. This approach uses virtual springs and dampers to include the closed-loop constraints thereby avoiding the solution of differential-algebraic equations. Moreover, it can lead to a completely decoupled dynamic model of parallel robotic manipulators which is ideal for the parallel computation of the simulation of parallel robotic manipulators. Examples illustrating the approach are given.

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Proceedings International Conference on Parallel Computing in Electrical Engineering. PARELEC 2000

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