### 並列的解法によるフレキシブルマニピュレータの逆動力学計算

Calculating Inverse Dynamics for Flexible Manipulators by Using a Parallel Solution Scheme

Abstract

有限要素法を用いた逆動力学の並列的解法が提案されている．本報告では，有限要素の剛性を考慮し，フレキシブルマニピュレータの運動学を計算し，それを目標軌道として逆動力学計算を実施した結果について報告する．

This paper describes a parallel solution scheme of inverse dynamics for
flexible manipulators. In this scheme, the entire system is subdivided
into finite elements and evaluated as a continuum. It calculates nodal
force by evaluating the equation of motion in a matrix form, and the information
from the entire system can be handled in parallel. Therefore, this parallel
solution scheme may turn into a scheme independent of the system configuration
of link mechanisms. Moreover, the kinematics of flexible manipulators is
calculated in order to obtain a target trajectory required for calculating
the inverse dynamics, by considering stiffnesses of the finite elements.
Both algorithms for calculating kinematics and inverse dynamics are combined
into a single program. Some numerical tests are carried out to confirm
the validity of the proposed scheme.

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