International Conference on Parallel Computing in Electrical Engineering (PARELEC'00) (2000)
Aug. 27, 2000 to Aug. 30, 2000
Jiegao Wang , Universit? Laval
Clément M. Gosselin , Universit? Laval
A new approach for the modeling and parallel simulation of closed-loop robotic systems is proposed in this paper. This approach uses virtual springs and dampers to include the closed-loop constraints thereby avoiding the solution of differential-algebraic equations. Moreover, it can lead to a completely decoupled dynamic model of parallel robotic manipulators, which is ideal for the parallel computation of the simulation of parallel robotic manipulators. Examples illustrating the approach are given.
J. Wang and C. M. Gosselin, "Parallel Computational Algorithms for the Simulation of Closed-Loop Robotic Systems," International Conference on Parallel Computing in Electrical Engineering (PARELEC'00)(PARELEC), Quebec, Canada, 2000, pp. 34.