Efficient Parallel Computing Algorithms for Robotic Manipulator Kinematics

A method for compiling object schemes is proposed, which allows constructing algorithms for calculating the kinematic parameters of robotic manipulators. Examples of compiling object schemes for calculating the velocities and accelerations of points selected on the links of the robotic manipulator are considered. An analysis of the computational complexity of the obtained algorithms is carried out and a method for increasing their computational efficiency is proposed. An increase in computational efficiency is achieved based on the use of the associativity property due to the reduction of additional and multiplication operations performed by the algorithm. Graphs of computational processes illustrating the developed algorithms are presented. The developed algorithms allow parallel calculations; this will further increase the efficiency of calculations when using multiprocessor computing systems. As a result of the study, based on the object approach, an effective universal method for calculating the kinematic parameters of robotic manipulators has been developed. This will improve the quality of robot control.