Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots

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 corresp...

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Bibliographic Details
Published in:Mathematics (Basel) 2021-11, Vol.9 (22), p.2886
Main Authors: Krakhmalev, Oleg, Korchagin, Sergey, Pleshakova, Ekaterina, Nikitin, Petr, Tsibizova, Oksana, Sycheva, Irina, Liang, Kang, Serdechnyy, Denis, Gataullin, Sergey, Krakhmalev, Nikita
Format: Article
Language:English
Subjects:
Algorithms
computational algorithms
dynamic model
Dynamic models
Food science
manipulation robots
mathematical modeling
Mathematical models
Object oriented programming
object-oriented approach
Ordinary differential equations
parallel computing
Programming languages
Robots
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Summary: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.
ISSN:2227-7390
2227-7390
DOI:10.3390/math9222886