An efficient parallel dynamics algorithm for simulation of large articulated robotic systems

This paper presents a new parallel computer algorithm for the simulation of large articulated robotic systems. The method employs the Divide and Conquer Algorithm (DCA) multibody methodology and achieves significant increases in speed by using a variation of the Articulated Body Algorithm (ABA) to e...

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Bibliographic Details
Published in:Mechanism and machine theory Vol. 53; pp. 86 - 98
Main Authors: Bhalerao, Kishor D., Critchley, James, Anderson, Kurt
Format: Journal Article
Language:English
Published: Kidlington Elsevier Ltd 01.07.2012
Elsevier
Subjects:
Algorithms
Applied sciences
Articulated
Computer science; control theory; systems
Computer simulation
Control theory. Systems
Divide-and-Conquer
Dynamical systems
Dynamics
Exact sciences and technology
Multibody systems
Parallel algorithm
Parallel kinematics
Processors
Robot dynamics
Robotics
Serials
Parallel algorithm
Divide-and-Conquer
Robot dynamics
Parallel kinematics
Multibody systems
Processor
Computer simulation
N body system
Dynamical system
Series system
Topology
Modeling
Robotics
Serial mechanism
Kinematics
Linkage mechanism
Dynamic model
Divide and conquer method
ISSN:0094-114X, 1873-3999
Online Access:Get full text
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Summary:This paper presents a new parallel computer algorithm for the simulation of large articulated robotic systems. The method employs the Divide and Conquer Algorithm (DCA) multibody methodology and achieves significant increases in speed by using a variation of the Articulated Body Algorithm (ABA) to efficiently construct the DCA subsystems. The method outperforms contemporary parallel dynamics algorithms for a serial topology and degenerates to the ABA in the absence of parallel resources. The implementation and comparison with the ABA demonstrate useful speed increases with as few as two parallel processors and speed ups by a factor of 2.25 in the presence of four processors for serial manipulators. The paper also addresses the practical limitations on obtainable speedups due to the interprocessor communication costs and its consequences on choosing optimal DCA subsystems.
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ISSN:0094-114X
1873-3999
DOI:10.1016/j.mechmachtheory.2012.03.001