A Distributed Pipelined Architecture of the Recursive Lagrangian Equations of Motion for Robot Manipulators with VLSI Implementation

This paper is concerned with efficient and fast computations of robot arm joint torques and solved the inverse dynamics problem through the design of a distributed architecture for the recursive Lagrangian equations of motion. Such recursive Lagrangian-based equations are found to be more appropriate to implement than the equivalent Newtonian-based or classical Lagrangian-based equations whole trajectory planner or controller designs are involved. In addition, a symbolic representation for parts of the relevant equations are developed as a contribution to the reduction of complexity. As a result, the utilization of each element in the multiprocessor system is high...........