Massively parallel GPU computing of continuum robotic dynamics
Date of Degree
Original embargo terms
MSU Only Indefinitely
Graduate Thesis - Open Access
Master of Science
James Worth Bagley College of Engineering
Department of Electrical and Computer Engineering
Continuum robots, with the capability of bending and extending at any point along their length mimic the abilities of an octopus arm or an elephant trunk. These manipulators present a number of exciting possibilities. While calculating a static solution for the system has been proven with certain models to produce satisfactory results , this approach ignores the significant effects a dynamics solution captures. However, adding time and studying the physical effects produced on a continuum robot involves calculation of the robot’s shape at a number of discrete points. Typically, the separation between points will be very small and thus a solution requires large amounts of computational power. We present a method to improve calculation speed for dynamic problems with the use of CUDA, a framework for parallel GPU computing. GPUs are ideally suited for massively parallel computations because of their multi-processor architecture. Our dynamics solution will take advantage of this parallel environment.
Orellana, Roberto A, "Massively parallel GPU computing of continuum robotic dynamics" (2011). Theses and Dissertations MSU. 3015.