Matrix Chain Multiplication and Equivalent Reduced-Order Parallel Calculation Method for a Robotic Arm
Source abstract
Abstract
Intelligence development has put forward increasing requirements of real-time planning and dynamic feedback in controlling robotic arms. It has become essential in engineering applications to complete the kinematics calculation of complex manipulators in real time. This paper proposes a matrix cascading multiplication equivalent reduced-order parallel computing method for the multiplication of homogeneous matrices in the process of forward and inverse kinematics solutions, which reduces the order of the matrix according to the distribution of zero vectors in the homogeneous matrix calculations. The method removes the unnecessary multiplication in joint homogeneous matrixes containing zero vectors. It obtains the optimal calculation order of the cascade matrix multiplication through dynamic planning searches, improving the efficiency of effective dot product calculation by parallel computation. Calculation processes and specific examples are presented in this paper. Compared with the previous algorithms, the proposed algorithm reduces the calculation cycle by 90%, effectively improving the real-time calculation efficiency in the complex control process.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Distributed and Parallel Computing Systems · Interconnection Networks and Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Beijing Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing 100094, China
College of Computer Science and Engineering, Chongqing University of Technology, Chongqing 400054, China
China Research and Development Academy of Machinery Equipment, Beijing 100089, China
References (22)
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