Parallel computational algorithms for the simulation of closed-loop robotic systems

A new approach for the modelling and parallel simulation of closed-loop robotic systems is proposed in this paper. This approach uses virtual springs and dampers to include the closed-loop constraints thereby avoiding the solution of differential-algebraic equations. Moreover, it can lead to a completely decoupled dynamic model of parallel robotic manipulators which is ideal for the parallel computation of the simulation of parallel robotic manipulators. Examples illustrating the approach are given.

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