Parallel Solution Scheme for Inverse Dynamics of Link Systems
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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:@Parallel Solution SchemeTorque Cancelling System