%0 Journal Article
%T PARALLEL COMPUTATIONAL SCHEME FOR THE MANIPULATOR FORWARD DYNAMICS BASED ON THE NON-RECURSIVE FORMULATION<br>基于非递推公式的机械臂正动力学的并行计算策略
%A Lu Youfang
%A Zhang Jingjun
%A Chen Suhuan
%A <br>陆佑方
%A 张京军
%A 陈塑寰
%J 力学学报
%D 1997
%I 
%X An augmented computational model for the forward dynamics is developed by using the Jourdain principle and the vector of Lagrange multipliers. Because some redundant computations are introduced, the data dependency in the model is reduced and hence the parallelism of this model is increased. A parallel computational scheme with O(n) processors for the manipulator forward dynamics is presented based on this model.
%K manipulator
%K forward dynamics
%K inverse dynamics
%K augmented equations
%K recursive formulation
%K parallel algorithm<br>机械臂
%K 正动力学
%K 逆动力学
%K 增方方程
%K 并行算法
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=6E709DC38FA1D09A4B578DD0906875B5B44D4D294832BB8E&cid=5D344E2AD54D14F8&jid=4100DA4A1A3BA1B0CE5AD99AE1DFB420&aid=AE6D6FBC5E5081AC2C57F8660F4559B4&yid=5370399DC954B911&vid=771469D9D58C34FF&iid=38B194292C032A66&sid=F7BB24011DC0D223&eid=965F4E89CD0AFC30&journal_id=0459-1879&journal_name=力学学报&referenced_num=0&reference_num=5