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以ＰＵＭＡ５６０机器人的分解牛顿－欧拉反向动力学方程为模型，提出了方程分解的原则，由此得到ＡＯＥ（ＡｃｔｉｖｉｔｙＯｎＥｄｇｅ）有向图．以此为基础，按照深度和时差的概念建立了Ｌ－Ｗ优先表，并导出了一种启发式的调度算法．该算法在微处理机个数一定的情况下，可得到最小调度时间．最后，以Ｓｔａｎｆｏｒｄ机器人的递推牛顿一欧拉反向动力学方程为例，说明了该算法的有效性．
Based on the decomposed Newton-Euler inverse kinematics equation of PUMA560 robot, the principle of equation decomposition is proposed, and the AOE (ActivityOnEdge) directed graph is obtained. Based on this, the L-W priority table is established according to the concept of depth and time difference, and a heuristic scheduling algorithm is derived. The algorithm in the case of a certain number of microprocessors, you can get the minimum scheduling time. Finally, taking Stanford robot’s recursive Newton-Euler inverse kinematics equation as an example, the effectiveness of this algorithm is demonstrated.