Abstract
This paper presents a recursive parallel formulation for the simulation of complex free-flying, potentially multi-arm, manipulators. The proposed divide and conquer algorithm (HDCA) is based on Hamilton’s canonical equations expressed in a minimal set of canonical coordinates. The HDCA allows one to efficiently and accurately simulate the dynamics of multi-rigid-body robotic systems possessing tree-like topologies. The developed HDCA formulation leads to a two-stage procedure. At first, the joint velocities, free-flying base body velocities, and all constraint impulsive loads at joints are evaluated in a divide and conquer manner. The time derivatives of the momenta are directly evaluated in the second parallelizable stage of the algorithm. The dynamics of a multi-arm space robot is investigated in a simplified scenario of chasing and capturing an object. Simple independent joint control laws are designated for the planned maneuver. Sample simulation results illustrate the verification of the proposed approach with the prospect for the analysis of more complex space robots involving closed-loops. Also, the parallel efficiency of the HDCA algorithm is addressed in the form of parallel performance results on graphics processor units.
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Acknowledgements
This work has been supported by the National Science Centre under grant no. DEC-2012/07/B/ST8/03993.
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Malczyk, P., Chadaj, K., Frączek, J. (2019). Parallel Hamiltonian Formulation for Forward Dynamics of Free-Flying Manipulators. In: Sasiadek, J. (eds) Aerospace Robotics III. GeoPlanet: Earth and Planetary Sciences. Springer, Cham. https://doi.org/10.1007/978-3-319-94517-0_1
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