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

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