Parallelism in manipulator dynamics

@inproceedings{Lathrop1985ParallelismIM,
  title={Parallelism in manipulator dynamics},
  author={Richard H. Lathrop},
  year={1985}
}
This paper addresses the problem of efficiently computing the motor torques required to drive a manipulator arm in free motion, given the desired trajectory—that is the inverse dynamics problem. It analyzes the high degree of parallelism inherent in the computations and presents two "mathemati cally exact "formulations especially suited to high-speed, highly parallel implementations using VLSI devices. The first method presented is a parallel version of the recent linear Newton-Euler recursive… CONTINUE READING

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