PARALLEL COMPUTATIONAL SCHEME FOR THE MANIPULATOR FORWARD DYNAMICS BASED ON THE NON-RECURSIVE FORMULATION
基于非递推公式的机械臂正动力学的并行计算策略

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.