A new algorithmic framework for robot dynamics analysis with application to space robots dynamics simulation

被引：2
|
作者：
Fijany, A
Bejczy, AK
机构：
来源：
8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97 | 1997年
关键词：
manipulator dynamics; dynamics simulation; space robots; parallel computation;
D O I：
10.1109/ICAR.1997.620273
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a new 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 a recently developed algorithmic framework based on a new Schur Complement factorization of the inverse of mass matrix, M-1. The new 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.
引用
收藏
页码：799 / 805
页数：7
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