A. Avello et al., A SIMPLE AND HIGHLY PARALLELIZABLE METHOD FOR REAL-TIME DYNAMIC SIMULATION-BASED ON VELOCITY TRANSFORMATIONS, Computer methods in applied mechanics and engineering, 107(3), 1993, pp. 313-339
A semi-recursive and easy-to-parallelize algorithm for real-time dynam
ic simulation of open- and closed-loop multi-rigid-body systems is pre
sented. The equations of motion are obtained in terms of a minimal set
of relative joint coordinates using an efficient implementation of th
e velocity transformation method. The open-loop velocity transformatio
n matrix, which relates body translational and rotational velocities t
o joint relative velocities, is computed in parallel using an extremel
y simple and intuitive idea. Similarly, the open-loop projected mass m
atrix is computed in parallel. Fine grain parallelization and optimum
use of the cache memory are achieved by using a body-by-body procedure
for the computation of vectors and matrices. Closed-loop systems are
transformed into open-loop systems through the penalty formulation. Th
e performance of the method is tested through an arithmetic operation
count of a 45 degree of freedom open-loop model of a human body and an
18 degree of freedom closed-loop model of a heavy truck.