Parallel Real-Time Dynamic Simulation of Robotsby Scott McMillan, Ohio State Univ, Columbus, United States,
David E. Orin, Ohio State Univ, Columbus, United States,
P. Sadayappan, Ohio State Univ, Columbus, United States,
Document Type: Proceeding Paper
Part of: Mechanics Computing in 1990's and Beyond
To achieve real-time dynamic simulation of a robot manipulator on a vector/parallel machine, two types of parallelism are investigated. Techniques to enhance the vectorization of the dynamics algorithms on the CRAY Y-MP8/864 are presented. Then, a coarse-grained parallel Block Predictor-Corrector integration method is implemented on multiple CRAY CPU's to perform the motion integration required in dynamic simulation. The gains from these techniques result in more than an order of magnitude speedup.
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