Parallel computation of the inertia matrix of a tree type robot using one directional recursion of Newton-Euler formulation

This paper is devoted to the computation of the inertia matrix of a tree structured multi-arm robot system. Based on the PPO-Recursion proposed by the authors for the inertial, coupling, and gravitational dynamics of a robot [9], a parallel algorithm for computing the inertia matrix of chain structure robot has been achieved [10]. In the paper the PPO-Recursion is extended to be applied for the tree structured robot after. Appropriate interpretation of the dynamic properties of the branching link in the tree structure is introduced. The proposed algorithm offers high parallelism and is being under the realization in a transputer network.