基于前缀和运算的并行动力学计算
Parallel Dynamics Computation using Prefix Sum Operations
摘要：
我们提出了一个新的并行框架，用于快速计算关节式机器人的逆动力学和正动力学的前缀和（扫描）的基础上。我们重新研究了著名的递归牛顿-欧拉公式的机器人动力学和机器人逆动力学的前向-后向传播过程相当于两个扫描操作某些半群。我们表明，国家的最先进的前向动力学算法几乎可以完全被投到一个序列的扫描操作，与unscannable部分清楚地确定。这表明了一个串并联混合的方法，系统中有一个中等数量的链接。我们实现我们的扫描基于算法的Nvidia CUDA平台上的性能相比，基于多线程CPU的递归算法，一个显着的加速水平被证明。
英文摘要：
We propose a new parallel framework for fast computation of inverse and forward dynamics of articulated robots based on prefix sums (scans). We re-investigate the well-known recursive Newton-Euler formulation of robot dynamics and show that the forward-backward propagation process for robot inverse dynamics is equivalent to two scan operations on certain semigroups. We show that the state-of-the-art forward dynamics algorithms may almost completely be cast into a sequence of scan operations, with unscannable parts clearly identified. This suggests a serial-parallel hybrid approach for systems with a moderate number of links. We implement our scan based algorithms on Nvidia CUDA platform with performance compared with multithreading CPU-based recursive algorithms; a significant level of acceleration is demonstrated.
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