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Parallel Computing in Electrical Engineering, 2004. International Conference on (2000)
Quebec, Canada
Aug. 27, 2000 to Aug. 30, 2000
ISBN: 0-7695-0759-X
pp: 34
Jiegao Wang , Universit? Laval
Clément M. Gosselin , Universit? Laval
ABSTRACT
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.
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CITATION
Jiegao Wang, Clément M. Gosselin, "Parallel Computational Algorithms for the Simulation of Closed-Loop Robotic Systems", Parallel Computing in Electrical Engineering, 2004. International Conference on, vol. 00, no. , pp. 34, 2000, doi:10.1109/PCEE.2000.873597
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