REAL-TIME SIMULATION OF MULTIBODY DYNAMICS ON SHARED-MEMORY MULTIPROCESSORS

被引：18

作者：

CHUNG, S

HAUG, EJ

机构：

[1] UNIV IOWA,CTR SIMULATION & DESIGN OPTIMIZAT MECH SYST,IOWA CITY,IA 52242

[2] UNIV IOWA,COLL ENGN,DEPT MECH ENGN,IOWA CITY,IA 52242

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1993年 / 115卷 / 04期

关键词：

Algebra - Ground vehicles - Parallel processing systems - Robotics - Scheduling - Variational techniques;

D O I：

10.1115/1.2899190

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a recursive variational formulation for real-time simulation of multibody mechanical systems on shared memory parallel computers. Static scheduling algorithms are employed to evenly distribute computation on shared memory multi-processors. Based on the methods developed, a general-purpose dynamic simulation program is shown to simulate multibody systems faster than real-time, enabling operator-in-the-loop simulation of ground vehicles and robots.

引用

页码：627 / 637

页数：11

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