2016/09/21 by Yajue Yang, Yang, Yajue, Yuanqing Wu +3
Engineering · #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotic Locomotion and Control #Robotic Mechanisms and Dynamics #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1609.06779
openalex publication_date 2016/09/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We propose a novel unifying scheme for parallel implementation of articulated robot dynamics algorithms. It is based on a unified Lie group notation for deriving the equations of motion of articulated robots, where various well-known forward algorithms differ only by their joint inertia matrix inversion strategies. This new scheme leads to a unified abstraction of state-of-the-art forward dynamics algorithms into combinations of block bi-diagonal and/or block tri-diagonal systems, which may be efficiently solved by parallel all-prefix-sum operations (scan) and parallel odd-even elimination (OEE) respectively. We implement the proposed scheme on a Nvidia CUDA GPU platform for the comparative study of three algorithms, namely the hybrid articulated-body inertia algorithm (ABIA), the parallel joint space inertia inversion algorithm (JSIIA) and the constrained force algorithm (CFA), and the performances are analyzed.