Explicit formulation of multibody dynamics based on principle of dynamical balance and its parallelization

Efficient computation of dynamics parameters is one of the important issues in simulation and control of the multibody systems as these systems become more complex. Recent advances in computer architecture are toward multiple core systems rather than high-speed single core systems. Therefore, parallel computation algorithms for dynamics parameters should be designed to improve the performance on these multicore architectures. In this paper, a new dynamics computation algorithm is derived using the principle of dynamical balance, which provides explicit computation of dynamic parameters. This new algorithm has the structure to which parallel computation can be easily applicable. Parallel computation methods are then applied so that we can exploit the structure of the proposed dynamics computation algorithm based on the principle of dynamical balance. The parallel algorithm is designed based on task and data-parallelism. The performance of the proposed algorithm is verified on robots with various topologies. The improved speed of parallel computation is demonstrated through these experiments.