Title :
Customized direct dynamics of robot manipulators
Author :
Machado, J. A Tenreiro ; Galhano, Alexandra M S F
Author_Institution :
Dept. de Engenharia Electrotecnica e de Computadores, Porto Univ., Portugal
Abstract :
This paper studies the customized direct dynamics of robot manipulators. Customizing consists not only on the elimination of unnecessary and redundant calculations but also on the development of efficient integration methods. In this perspective we investigate numerical algorithms with high order expansion and integration with adaptive step size based on the embedded estimation of the local truncation error
Keywords :
integration; numerical analysis; robot dynamics; adaptive step size; customized direct dynamics; efficient integration methods; embedded estimation; local truncation error; numerical algorithms; redundant calculations; robot manipulators; unnecessary calculations; Ambient intelligence; Associative memory; Computational efficiency; Finite wordlength effects; Integral equations; Lagrangian functions; Manipulator dynamics; Mechanical systems; Robots; Silver;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.390774
