Real-Time Simulation for Dynamics of Multi-body Robot Based on a Modified Rosenbrock Method

Modelling the dynamics of a multi-body robot in detail and simulating it in real-time are significant for hardware design and validation. For such a complex non-linear dynamic model composed of stiff ordinary differential equations, a sufficient effective solver must be needed for real-time simulation. We divide a major fixed step into some minor steps that a modified Rosenbrock method is adopted on. As the implicit numerical method needs the solution of the Jacobian matrix, which usually costs lots of computing resources, two parallel threads are set to run simultaneously to solve the model and the Jacobian. The test result shows the dynamic model is elaborate and the numerical method is effective for real-time simulation. The simulating methods afford a reference for other simulation applications.