Real-Time Simulation of Multibody Dynamics on Shared Memory Multiprocessors

[+] Author and Article Information
Shu Chung, Edward J. Haug

Center for Simulation and Design Optimization of Mechanical Systems and Department of Mechanical Engineering, College of Engineering, The University of Iowa, Iowa City, IA 52242

J. Dyn. Sys., Meas., Control 115(4), 627-637 (Dec 01, 1993) (11 pages) doi:10.1115/1.2899190 History: Received March 24, 1991; Revised May 26, 1992; Online March 17, 2008


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.

Copyright © 1993 by The American Society of Mechanical Engineers
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