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

fYear

1997

fDate

7-9 Jul 1997

Firstpage

799

Lastpage

805

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620273

Filename

620273