Parallel forward Dynamics: A geometric approach

The authors present a new algorithm to compute the forward Dynamics of n degrees of freedom serial kinematic chains, which is faster than the classical approaches. This algorithm was created rewriting the Lagrange equation in terms of lines and points in the framework of conformal geometric algebra, which allows having a new equation to compute the dynamics with less number of products. This algorithm not only performs less computations but it also takes the advantages of the newest multi core architectures by computing the dynamics in parallel.