DocumentCode
290721
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
fYear
1993
fDate
17-20 Oct 1993
Firstpage
566
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICSMC.1993.390774
Filename
390774
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