{"title":"一种新的机器人动力学分析算法框架及其在空间机器人动力学仿真中的应用","authors":"A. Fijany, A. Bejczy","doi":"10.1109/ICAR.1997.620273","DOIUrl":null,"url":null,"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/sup -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.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"92 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"A new algorithmic framework for robot dynamics analysis with application to space robots dynamics simulation\",\"authors\":\"A. Fijany, A. Bejczy\",\"doi\":\"10.1109/ICAR.1997.620273\",\"DOIUrl\":null,\"url\":null,\"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/sup -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.\",\"PeriodicalId\":228876,\"journal\":{\"name\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"volume\":\"92 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-07-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.1997.620273\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1997.620273","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A new algorithmic framework for robot dynamics analysis with application to space robots dynamics simulation
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/sup -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.
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