The paper focuses on the inverse dynamics formulation of manipulators that is suitable for parallel computation, and a corresponding nonrecursive Newton-Euler formulation is presented. In order to illustrate its potential parallelism, a simple parallel scheduling scheme is proposed, and the parallel computational efficiency for the inverse dynamics of the basic three links of a PUMA 560 robot is analyzed. Compared with other algorithms, the theoretical computation cost of this parallel algorithm, in which factors such as communications overhead are ignored, is smaller.
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Zhang et al. (1998) studied this question.
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