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...
| Hauptverfasser: | , , , , , , , , , |
|---|---|
| Format: | Artikel |
| Sprache: | English |
| Veröffentlicht: |
MDPI AG
2021-11-01
|
| Schriftenreihe: | Mathematics |
| Schlagworte: | |
| Online Zugang: | https://www.mdpi.com/2227-7390/9/22/2886 |
| _version_ | 1827676247665147904 |
|---|---|
| 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 |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-03-10T05:19:04Z |
| format | Article |
| id | doaj.art-af3c5c47b8334598bebfb51f636f16c1 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-10T05:19:04Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-af3c5c47b8334598bebfb51f636f16c12023-11-23T00:14:34ZengMDPI AGMathematics2227-73902021-11-01922288610.3390/math9222886Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation RobotsOleg Krakhmalev0Sergey Korchagin1Ekaterina Pleshakova2Petr Nikitin3Oksana Tsibizova4Irina Sycheva5Kang Liang6Denis Serdechnyy7Sergey Gataullin8Nikita Krakhmalev9Department of Data Analysis and Machine Learning, Financial University under the Government of the Russian Federation, 4-th Veshnyakovsky Passage, 4, 109456 Moscow, RussiaDepartment of Data Analysis and Machine Learning, Financial University under the Government of the Russian Federation, 4-th Veshnyakovsky Passage, 4, 109456 Moscow, RussiaDepartment of Data Analysis and Machine Learning, Financial University under the Government of the Russian Federation, 4-th Veshnyakovsky Passage, 4, 109456 Moscow, RussiaDepartment of Data Analysis and Machine Learning, Financial University under the Government of the Russian Federation, 4-th Veshnyakovsky Passage, 4, 109456 Moscow, RussiaDepartment of Russian as a Foreign Language and General Theoretical Subjects, Russian State Agrarian University—Moscow Timiryazev Agricultural Academy, 127550 Moscow, RussiaDepartment of the Chair of Special Animal Husbandry, Russian State Agrarian University—Moscow Timiryazev Agricultural Academy, 127550 Moscow, RussiaEngineering Training Center, Shanghai Polytechnic University, 2360 Jin Hai Road, Pudong District, Shanghai 201209, ChinaDepartment of Innovation Management, State University of Management, Ryazansky Pr., 99, 109542 Moscow, RussiaDepartment of Data Analysis and Machine Learning, Financial University under the Government of the Russian Federation, 4-th Veshnyakovsky Passage, 4, 109456 Moscow, RussiaDepartment of Engineering Graphics, Moscow State University of Technology STANKIN, Vadkovsky Lane, 3a, 127055 Moscow, RussiaAn 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.https://www.mdpi.com/2227-7390/9/22/2886manipulation robotsdynamic modelmathematical modelingobject-oriented approachcomputational algorithmsparallel computing |
| spellingShingle | 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 Mathematics manipulation robots dynamic model mathematical modeling object-oriented approach computational algorithms parallel computing |
| title | 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_short | Parallel Computational Algorithm for Object-Oriented Modeling of Manipulation Robots |
| title_sort | parallel computational algorithm for object oriented modeling of manipulation robots |
| topic | manipulation robots dynamic model mathematical modeling object-oriented approach computational algorithms parallel computing |
| url | https://www.mdpi.com/2227-7390/9/22/2886 |
| 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 |