This code is an inverse dynamics computational code for link systems using
the parallel solution scheme developed in Isobe lab., University of Tsukuba.
A link member is modeled with single cubic beam element and the stiffness,
passive joints and multi-branch are considered. Please revise the program
and use for your own good. For example, the code for open-arm link system
can be drastically simplified. Please note that some parts of program may
have been specialized to specific link system.
Source code download (compressed file 23KB)
Parallel Solution Scheme reference site:@