Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots
Oleg Krakhmalev,
Sergey Korchagin,
Ekaterina Pleshakova,
Petr Nikitin,
Oksana Tsibizova,
Irina Sycheva,
Kang Liang,
Denis Serdechnyy,
Sergey Gataullin,
Nikita Krakhmalev
Affiliations
Oleg Krakhmalev
Department of Data Analysis and Machine Learning, Financial University under the Government of the Russian Federation, 4-th Veshnyakovsky Passage, 4, 109456 Moscow, Russia
Sergey Korchagin
Department of Data Analysis and Machine Learning, Financial University under the Government of the Russian Federation, 4-th Veshnyakovsky Passage, 4, 109456 Moscow, Russia
Ekaterina Pleshakova
Department of Data Analysis and Machine Learning, Financial University under the Government of the Russian Federation, 4-th Veshnyakovsky Passage, 4, 109456 Moscow, Russia
Petr Nikitin
Department of Data Analysis and Machine Learning, Financial University under the Government of the Russian Federation, 4-th Veshnyakovsky Passage, 4, 109456 Moscow, Russia
Oksana Tsibizova
Department of Russian as a Foreign Language and General Theoretical Subjects, Russian State Agrarian University—Moscow Timiryazev Agricultural Academy, 127550 Moscow, Russia
Irina Sycheva
Department of the Chair of Special Animal Husbandry, Russian State Agrarian University—Moscow Timiryazev Agricultural Academy, 127550 Moscow, Russia
Kang Liang
Engineering Training Center, Shanghai Polytechnic University, 2360 Jin Hai Road, Pudong District, Shanghai 201209, China
Denis Serdechnyy
Department of Innovation Management, State University of Management, Ryazansky Pr., 99, 109542 Moscow, Russia
Sergey Gataullin
Department of Data Analysis and Machine Learning, Financial University under the Government of the Russian Federation, 4-th Veshnyakovsky Passage, 4, 109456 Moscow, Russia
Nikita Krakhmalev
Department of Engineering Graphics, Moscow State University of Technology STANKIN, Vadkovsky Lane, 3a, 127055 Moscow, Russia
An algorithm for parallel calculations in a dynamic model of manipulation robots obtained by the Lagrange–Euler method is developed. Independent components were identified in the structure of the dynamic model by its decomposition. Using the technology of object-oriented programming, classes corresponding to the structures of the selected components of the dynamic model were described. The algorithmization of parallel computing is based on the independence of the calculation of objects of individual classes and the sequence of matrix operations. The estimation of the execution time of parallel algorithms, the resulting acceleration, and the efficiency of using processors is given.
