Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots

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 corresp...

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Autores principales:	Oleg Krakhmalev, Sergey Korchagin, Ekaterina Pleshakova, Petr Nikitin, Oksana Tsibizova, Irina Sycheva, Kang Liang, Denis Serdechnyy, Sergey Gataullin, Nikita Krakhmalev
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	manipulation robots dynamic model mathematical modeling object-oriented approach computational algorithms parallel computing Mathematics QA1-939
Acceso en línea:	https://doaj.org/article/af3c5c47b8334598bebfb51f636f16c1
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id	oai:doaj.org-article:af3c5c47b8334598bebfb51f636f16c1
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spelling	oai:doaj.org-article:af3c5c47b8334598bebfb51f636f16c12021-11-25T18:16:52ZParallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots10.3390/math92228862227-7390https://doaj.org/article/af3c5c47b8334598bebfb51f636f16c12021-11-01T00:00:00Zhttps://www.mdpi.com/2227-7390/9/22/2886https://doaj.org/toc/2227-7390An 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.Oleg KrakhmalevSergey KorchaginEkaterina PleshakovaPetr NikitinOksana TsibizovaIrina SychevaKang LiangDenis SerdechnyySergey GataullinNikita KrakhmalevMDPI AGarticlemanipulation robotsdynamic modelmathematical modelingobject-oriented approachcomputational algorithmsparallel computingMathematicsQA1-939ENMathematics, Vol 9, Iss 2886, p 2886 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	manipulation robots dynamic model mathematical modeling object-oriented approach computational algorithms parallel computing Mathematics QA1-939
spellingShingle	manipulation robots dynamic model mathematical modeling object-oriented approach computational algorithms parallel computing Mathematics QA1-939 Oleg Krakhmalev Sergey Korchagin Ekaterina Pleshakova Petr Nikitin Oksana Tsibizova Irina Sycheva Kang Liang Denis Serdechnyy Sergey Gataullin Nikita Krakhmalev Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots
description	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.
format	article
author	Oleg Krakhmalev Sergey Korchagin Ekaterina Pleshakova Petr Nikitin Oksana Tsibizova Irina Sycheva Kang Liang Denis Serdechnyy Sergey Gataullin Nikita Krakhmalev
author_facet	Oleg Krakhmalev Sergey Korchagin Ekaterina Pleshakova Petr Nikitin Oksana Tsibizova Irina Sycheva Kang Liang Denis Serdechnyy Sergey Gataullin Nikita Krakhmalev
author_sort	Oleg Krakhmalev
title	Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots
title_short	Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots
title_full	Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots
title_fullStr	Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots
title_full_unstemmed	Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots
title_sort	parallel computational algorithm for object-oriented modeling of manipulation robots
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/af3c5c47b8334598bebfb51f636f16c1
work_keys_str_mv	AT olegkrakhmalev parallelcomputationalalgorithmforobjectorientedmodelingofmanipulationrobots AT sergeykorchagin parallelcomputationalalgorithmforobjectorientedmodelingofmanipulationrobots AT ekaterinapleshakova parallelcomputationalalgorithmforobjectorientedmodelingofmanipulationrobots AT petrnikitin parallelcomputationalalgorithmforobjectorientedmodelingofmanipulationrobots AT oksanatsibizova parallelcomputationalalgorithmforobjectorientedmodelingofmanipulationrobots AT irinasycheva parallelcomputationalalgorithmforobjectorientedmodelingofmanipulationrobots AT kangliang parallelcomputationalalgorithmforobjectorientedmodelingofmanipulationrobots AT denisserdechnyy parallelcomputationalalgorithmforobjectorientedmodelingofmanipulationrobots AT sergeygataullin parallelcomputationalalgorithmforobjectorientedmodelingofmanipulationrobots AT nikitakrakhmalev parallelcomputationalalgorithmforobjectorientedmodelingofmanipulationrobots
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Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots

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