Parallel Data Processing Algorithm for Solving Problems of Robot Manipulator Dynamics

This article discusses the formulations and mathematical models of the dynamics of a robot manipulator with six degrees of freedom and compares the standard sequential algorithm for solving the direct problem with a self-developed equivalent parallel version that speeds up the computation. The software implementation of these tasks in Java on a multi-core processor will allow a research on the efficiency, accuracy of the solutions, and duration of calculations depending on the number of threads. As a result of the work, dynamics problems of manipulator were solved, sequential and multi-threading algorithms were designed and implemented. The theory from special literature sources was also analyzed, based on which key metrics for evaluating efficiency were selected. A comparison based on the specified criteria of efficiency is built upon the results of the conducted experiments.