A New Parallel Algorithm for Inverse Dynamics

Abstract

This paper proposes a new parallel computational scheme for inverse dynamics based on a new description of the Newton- Euler formulation. This description, which is essentially identical to Kane's formulation for manipulator dynamics, resolves the task of kinematic and dynamic computations into a set of subtasks. The potential parallelism of the serially connected rigid body dynamics is exploited in these subtasks. The parallel scheme, called the resolved Newton-Euler algo rithm, is mapped onto a model of computation without any complex task scheduling. This model is composed of process ing elements with regular and local connections, which is suitable for very large scale integration (VLSI) implementa tion. This model allows computation of the resolved Newton- Euler algorithm with an iteration interval of 60 floating-point operations and a response time of 60n + 193 floating-point operations for a manipulator with n joints. This efficiency seems to be sufficient for real-time control.