Parallel inverse dynamics method for synthesis of control movement of multidimensional walking robot

摘要

Inverse dynamics problem is considered from the point of view of solving and performance the model of complex multibody mechanism. Proposed method based on program simulation of motion and using high-performance computing for synthesis controlled motion according to program motion. The solution is found in simultaneously work of several control programs and searching a most appropriate one to force the control on model. The hardest part of controlled motion simulation is inventing control algorithms. The advantage of this solution is its simplicity and possibilities to integrate it in general multibody software. With this work, we present a methodology that is suitable for spatial mechanical system with redundant constraints and drives, and provide the control movement at a statically unstable regime.