Abstract
A new parallel framework for fast computation of inverse and forward dynamics of articulated robots based on prefix sums (scans) is proposed. We first re-investigate the well-known recursive Newton–Euler formulation for robot dynamics and show that the forward–backward propagation process for robot inverse dynamics is equivalent to two scan operations on certain semigroups. Then, we showed that state-of-the-art forward dynamic algorithms can also be cast into a sequence of scan operations almost completely, with unscannable parts clearly identified. This suggests a serial–parallel hybrid approach for systems with a moderate number of links. We implement our scan-based algorithms on Nvidia CUDA platform with performance compared with multithreading CPU-based recursive algorithms; a computational acceleration is demonstrated.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
