Highly Parallelizable Low-Order Dynamics Simulation Algorithm for Multi-Rigid-Body Systems

Anderson, Kurt S.; Duan, Shanzhong

doi:10.2514/2.4531

Cited by 69 publications

(40 citation statements)

References 24 publications

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“…The method is applicable to parallel forward dynamics algorithms which can be physically interpreted as successive connection of two partial chains described as schedule trees, e.g. [1]- [3]. The coefficients of Eq.…”

Section: Branched Chainsmentioning

confidence: 99%

“…Our method is also applicable to fairly wide range of parallel forward dynamics algorithms. Although we have only tested our method on Assembly-Disassembly Algorithm (ADA) proposed by the authors [1], the same method can be applied to Divide-andConquer Algorithm (DCA) [2] and Hybrid Direct-Iterative Algorithm (HDIA) [3] with small modifications.…”

Section: Introductionmentioning

confidence: 99%

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Automatic Scheduling for Parallel Forward Dynamics Computation of Open Kinematic Chains

Yamane

Nakamura

2007

Robotics: Science and Systems III

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Abstract-Recent progress in the algorithm as well as the processor power have made the dynamics simulation of complex kinematic chains more realistic in various fields such as human motion simulation and molecular dynamics. The computation can be further accelerated by employing parallel processing on multiple processors. In fact, parallel processing environment is becoming more affordable thanks to recent release of multiplecore processors. Although several parallel algorithms for the forward dynamics computation have been proposed in literature, there still remains the problem of automatic scheduling, or load distribution, for handling arbitrary kinematic chains on a given parallel processing environment. In this paper, we propose a method for finding the schedule that minimizes the computation time. We test the method using three human character models with different complexities and show that parallel processing on two processors reduces the computation time by 35-36%.

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Section: Branched Chainsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Automatic Scheduling for Parallel Forward Dynamics Computation of Open Kinematic Chains

Yamane

Nakamura

2007

Robotics: Science and Systems III

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“…When a time-varying rotation matrix is parameterized as 4 then by the chain rule from calculus, one has Multiplying on the left by R T and extracting the dual vector from both sides, one finds that [27]: (10) where (11) which is called the 'body' Jacobian. When using the ZXZ Euler angle parameterization (α, β, γ), the Jacobian is written explicitly as [27]: (12) …”

Section: Jacobians Associated With Parameterized Rotationsmentioning

confidence: 99%

O(n) mass matrix inversion for serial manipulators and polypeptide chains using Lie derivatives

Wang

Chirikjian

2007

Robotica

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Over the past several decades a number of O(n) methods for forward and inverse dynamics computations have been developed in the multi-body dynamics and robotics literature. A method was developed in 1974 by Fixman for O(n) computation of the mass-matrix determinant for a serial polymer chain consisting of point masses. In other recent papers, we extended this method in order to compute the inverse of the mass matrix for serial chains consisting of point masses. In the present paper, we extend these ideas further and address the case of serial chains composed of rigid-bodies. This requires the use of relatively deep mathematics associated with the rotation group, SO(3), and the special Euclidean group, SE(3), and specifically, it requires that one differentiates functions of Lie-group-valued argument.

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“…The first attempts to exploit parallel strategies can be found in [18], [19], [20], [21], [22], [23]. More recent ideas regarding parallel algorithms for multi-body dynamics simulations can be found in [24], [25], [26], [27], [28], [29], [30], [31]. The latest comparative study on efficient sequential and parallel multibody dynamics algorithms can be found in [32] and in recent books [33], [34].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Analysis of a Lightweight Robotic Manipulator in Joint Space

Woliński¹,

Malczyk²

2015

Archive of Mechanical Engineering

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The primary importance of the paper is the application of the efficient formulation for the simulation of open-loop lightweight robotic manipulator. The framework employed in the paper makes use of the spatial operator algebra and the associated equations are expressed in joint space. This compact representation of the manipulator dynamics makes it possible to solve the robot forward and inverse dynamics problems in a recursive and fast manner. In the current form, the presented algorithm can be applied for the dynamics simulation of an open-loop chain system possessing any number of joints. Specifically, the formulation has been successfully applied for the analysis of the 7DOF KUKA LWR robot. Results from a number of test cases for the robot demonstrate the verification of the calculations.

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Highly Parallelizable Low-Order Dynamics Simulation Algorithm for Multi-Rigid-Body Systems

Cited by 69 publications

References 24 publications

Automatic Scheduling for Parallel Forward Dynamics Computation of Open Kinematic Chains

Automatic Scheduling for Parallel Forward Dynamics Computation of Open Kinematic Chains

O(n) mass matrix inversion for serial manipulators and polypeptide chains using Lie derivatives

Dynamic Modeling and Analysis of a Lightweight Robotic Manipulator in Joint Space

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