Abstract
In this paper, a general-purpose feed-forward control system for link systems is developed using the parallel solution scheme of inverse dynamics. The dynamic equations of complicated link systems are hard to conduct by generally used schemes such as the Newton-Euler method or the Lagrangian method, since the equations include interdependent variables between the constituting links. In the parallel solution scheme, the joint torque is calculated by converting the nodal forces, which is evaluated by equations of motion in a matrix form. Therefore, information of the entire system is handled in parallel, and it makes easier to deal with such complicated systems as structure-varying multi-armed manipulators. Some experiments are carried out using a structure-varying multi-armed manipulator to verify the practicability of the feed-forward control system using the parallel solution scheme.
