A new algorithmic framework for robot dynamics analysis with application to space robots dynamics simulation

摘要

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.