Abstract
In this paper, the parallel solution scheme is applied to the calculation of inverse dynamics for underactuated link systems. This paper describes the process of a solution scheme of kinematics that is developed on the basis of the finite element method in order to calculate target trajectories that compensate for the inertial forces acting in the systems. The obtained trajectories are fed into the inverse dynamics calculation using the parallel solution scheme. Some numerical experiments are carried out on underactuated link systems and the validity of the parallel solution scheme is verified.
