Journal ArticleDOI
A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic Algorithm
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An overview of the new recursive, divide-and-conquer algorithm for calculating the forward dynamics of a robot mechanism, or general rigid-body system, is presented and a detailed description of the simplest case: unbranched kinematic chains is presented.Abstract:
This paper presents a recursive, divide-and-conquer algorithm for calculating the forward dynamics of a robot mechanism, or general rigid-body system, on a parallel computer. It features O(log(n)) time complexity on O(n) processors and is the fastest available algorithm for a computer with a large number of processors and low communications costs. It is an exact, noniterative algorithm and is applicable to mechanisms with any joint type and any topology, including branches and kinematic loops. The algorithm works by recursive application of a formula that constructs the articulatedbody equations of motion of an assembly from those of its constituent parts. The inputs to this formula are the equations of motion of two independent subassemblies, plus a description of how they are to be connected, and the output is the equation of motion of the assembly. Starting with a collection of unconnected rigid bodies, the equations of motion of any rigid-body system can be constructed by repeated application of this ...read more
Citations
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Book
Rigid Body Dynamics Algorithms
TL;DR: Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation to facilitate the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Proceedings ArticleDOI
Robot dynamics: equations and algorithms
Roy Featherstone,David E. Orin +1 more
TL;DR: This paper reviews some of the accomplishments in the field of robot dynamics research, from the development of the recursive Newton-Euler algorithm to the present day.
Journal ArticleDOI
Interactive Simulation of Rigid Body Dynamics in Computer Graphics
TL;DR: In this paper, a self-contained state-of-the-art report on the physics, the models, the numerical methods and the algorithms used in interactive rigid body simulation all of which have evolved and matured over the past 20 years.
Journal ArticleDOI
A unified approach for inverse and direct dynamics of constrained multibody systems based on linear projection operator: applications to control and simulation
TL;DR: A unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control is presented.
Journal ArticleDOI
A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy:
TL;DR: A more accurate version of the algorithm is presented and the results of some numerical accuracy tests that compare both versions with the standard articulated body algorithm are presented.
References
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Book
Robot Dynamics Algorithms
TL;DR: This work extends the Dynamics Algorithms to include contact, impact, and Kinematic Loops, and aims to improve accuracy and efficiency in the management of contact and impact.
Journal ArticleDOI
The Calculation of Robot Dynamics Using Articulated-Body Inertias:
TL;DR: In this article, a new method for calculating the acceleration of a robot in response to given actuator forces is described, which is applicable to open-loop kinematic chains containing revolute and prismatic joints.
Journal ArticleDOI
A spatial operator algebra for manipulator modeling and control
TL;DR: The transition from an abstract problem formulation and solution to the detailed mechanization of specific algorithms is greatly simplified and the interpretation of expressions within the algebraic framework leads to enhanced physical understanding of manipulator dynamics and kinematics.
Journal ArticleDOI
A fast recursive algorithm for molecular dynamics simulation
TL;DR: A recursive algorithm for solving the dynamical equations of motion for molecular systems using internal variable models which have been shown to reduce the computation times of molecular dynamics simulations by an order of magnitude when compared with Cartesian models.