Title :
A new algorithmic framework for robot dynamics analysis with application to space robots dynamics simulation
Author :
Fijany, Amir ; Bejczy, Antal K.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
An algorithm for fast serial and parallel dynamics simulation of space robots as characterized by serial chain systems with a floating base is presented. This algorithm is derived by using an algorithmic framework based on a new Schur complement factorization of the inverse of mass matrix, M-1. The algorithm leads to optimal serial and parallel computation for the problem, that is, an O(N) serial computation and an O(Log N) parallel computation by using O(N) processors
Keywords :
aerospace control; aerospace simulation; computational complexity; matrix inversion; robot dynamics; O(Log N) parallel computation; O(N) serial computation; Schur complement factorization; algorithmic framework; floating base; mass matrix; parallel dynamics; robot dynamics analysis; serial chain systems; serial dynamics; space robots dynamics simulation; Algorithm design and analysis; Analytical models; Computational modeling; Concurrent computing; Delay; Force control; Manipulator dynamics; Orbital robotics; Parallel robots; Space technology;
Conference_Titel :
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-4160-0
DOI :
10.1109/ICAR.1997.620273
