A Case Study on Parallelization of Multibody Dynamic Equations for Graphic Processing Units (GPUs) in Real-Time Simulations - the Planar nR Serial Chain.

EasyChair Preprint no. 13474

Abstract

The paper investigates the real time computation of forward dynamics for planar serial chains on Graphic Processing Units (GPUs). Parallelizing dynamics on GPUs causes data bottlenecks due to sequential tasks, resulting in simulation latency. Using the Jacobian approach, the presented method shows a way to break recursiveness using previous time step calculations at cost of error. A comparison is made between speed-up obtainable for a fully parallel code and the amount of error generated during the simulation.

Keyphrases: forward dynamics parallelization, GPU in multibody, Graphic Processing Units

@Booklet{EasyChair:13474,
  author = {Louis Guigon and Paul Rosaz and Benjamin Boudon and Chedli Bouzgarrou and Youcef Mezouar and Andres Kecskemethy},
  title = {A Case Study on Parallelization of Multibody Dynamic Equations for Graphic Processing Units (GPUs) in Real-Time Simulations - the Planar nR Serial Chain.},
  howpublished = {EasyChair Preprint no. 13474},

  year = {EasyChair, 2024}}