Distributed Operational Space Formulation of Serial ManipulatorsSource: Journal of Computational and Nonlinear Dynamics:;2014:;volume( 009 ):;issue: 002::page 21012Author:Bhalerao, Kishor D.
,
Critchley, James
,
Oetomo, Denny
,
Featherstone, Roy
,
Khatib, Oussama
DOI: 10.1115/1.4025577Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a new parallel algorithm for the operational space dynamics of unconstrained serial manipulators, which outperforms contemporary sequential and parallel algorithms in the presence of two or more processors. The method employs a hybrid divide and conquer algorithm (DCA) multibody methodology which brings together the best features of the DCA and fast sequential techniques. The method achieves a logarithmic time complexity (O(log(n)) in the number of degrees of freedom (n) for computing the operational space inertia (خ›e) of a serial manipulator in presence of O(n) processors. The paper also addresses the efficient sequential and parallel computation of the dynamically consistent generalized inverse (Jآ¯e) of the task Jacobian, the associated null space projection matrix (Ne), and the joint actuator forces (د„null) which only affect the manipulator posture. The sequential algorithms for computing Jآ¯e, Ne, and د„null are of O(n), O(n2), and O(n) computational complexity, respectively, while the corresponding parallel algorithms are of O(log(n)), O(n), and O(log(n)) time complexity in the presence of O(n) processors.
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contributor author | Bhalerao, Kishor D. | |
contributor author | Critchley, James | |
contributor author | Oetomo, Denny | |
contributor author | Featherstone, Roy | |
contributor author | Khatib, Oussama | |
date accessioned | 2017-05-09T01:05:52Z | |
date available | 2017-05-09T01:05:52Z | |
date issued | 2014 | |
identifier issn | 1555-1415 | |
identifier other | cnd_009_02_021012.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/154151 | |
description abstract | This paper presents a new parallel algorithm for the operational space dynamics of unconstrained serial manipulators, which outperforms contemporary sequential and parallel algorithms in the presence of two or more processors. The method employs a hybrid divide and conquer algorithm (DCA) multibody methodology which brings together the best features of the DCA and fast sequential techniques. The method achieves a logarithmic time complexity (O(log(n)) in the number of degrees of freedom (n) for computing the operational space inertia (خ›e) of a serial manipulator in presence of O(n) processors. The paper also addresses the efficient sequential and parallel computation of the dynamically consistent generalized inverse (Jآ¯e) of the task Jacobian, the associated null space projection matrix (Ne), and the joint actuator forces (د„null) which only affect the manipulator posture. The sequential algorithms for computing Jآ¯e, Ne, and د„null are of O(n), O(n2), and O(n) computational complexity, respectively, while the corresponding parallel algorithms are of O(log(n)), O(n), and O(log(n)) time complexity in the presence of O(n) processors. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Distributed Operational Space Formulation of Serial Manipulators | |
type | Journal Paper | |
journal volume | 9 | |
journal issue | 2 | |
journal title | Journal of Computational and Nonlinear Dynamics | |
identifier doi | 10.1115/1.4025577 | |
journal fristpage | 21012 | |
journal lastpage | 21012 | |
identifier eissn | 1555-1423 | |
tree | Journal of Computational and Nonlinear Dynamics:;2014:;volume( 009 ):;issue: 002 | |
contenttype | Fulltext |