Algorithms for serial and parallel computation of forward dynamics of multiple-link robotic manipulators by conjugate-gradient method developed. Parallel algorithms have potential for speedup of computations on multiple linked, specialized processors implemented in very-large-scale integrated circuits. Such processors used to stimulate dynamics, possibly faster than in real time, for purposes of planning and control.
Conjugate-Gradient Algorithms For Dynamics Of Manipulators
NASA Tech Briefs ; 17 , 7
01.07.1993
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Englisch
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