A parallel algorithm for the forward dynamics of planar flexible manipulators
With the realization that recursion is not suitable for parallel computation, the paper presents augmented equations for the forward dynamics of planar flexible manipulators by using the virtual power principle and the vector of Lagrange multipliers. Based on augmented equations, a parallel computational scheme and a parallel algorithm with O(n) processors is proposed. Finally, a two-link planar flexible manipulator is chosen as an example to compare the computational efficiency in computer simulation. The results show that the parallel algorithm developed in the paper is efficient.