Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots

Mathematics

Sergey Gataullin¹  Sergey Korchagin¹  Oleg Krakhmalev¹  Ekaterina Pleshakova¹  Petr Nikitin¹  Nikita Krakhmalev²  Denis Serdechnyy³  Oksana Tsibizova⁴  Irina Sycheva⁵  Kang Liang⁶ 

[1] Department of Data Analysis and Machine Learning, Financial University under the Government of the Russian Federation, 4-th Veshnyakovsky Passage, 4, 109456 Moscow, Russia;Department of Engineering Graphics, Moscow State University of Technology STANKIN, Vadkovsky Lane, 3a, 127055 Moscow, Russia;Department of Innovation Management, State University of Management, Ryazansky Pr., 99, 109542 Moscow, Russia;Department of Russian as a Foreign Language and General Theoretical Subjects, Russian State Agrarian University—Moscow Timiryazev Agricultural Academy, 127550 Moscow, Russia;Department of the Chair of Special Animal Husbandry, Russian State Agrarian University—Moscow Timiryazev Agricultural Academy, 127550 Moscow, Russia;Engineering Training Center, Shanghai Polytechnic University, 2360 Jin Hai Road, Pudong District, Shanghai 201209, China;

关键词: manipulation robots;    dynamic model;    mathematical modeling;    object-oriented approach;    computational algorithms;    parallel computing;   

DOI  :  10.3390/math9222886

来源: DOAJ

【 摘 要 】

An algorithm for parallel calculations in a dynamic model of manipulation robots obtained by the Lagrange–Euler method is developed. Independent components were identified in the structure of the dynamic model by its decomposition. Using the technology of object-oriented programming, classes corresponding to the structures of the selected components of the dynamic model were described. The algorithmization of parallel computing is based on the independence of the calculation of objects of individual classes and the sequence of matrix operations. The estimation of the execution time of parallel algorithms, the resulting acceleration, and the efficiency of using processors is given.

【 授权许可】

Unknown