Organizing customized robot dynamics algorithms for efficient numerical evaluation

In 1983, the computer program called algebraic robot modeler (ARM) was implemented to generate symbolically complete closed-form and recursive dynamic robot models. To enhance computational efficiency for dynamic simulation and real-time control, the systematic organization of these symbolic models...

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Bibliographic Details
Published in:IEEE transactions on systems, man, and cybernetics man, and cybernetics, 1988-01, Vol.18 (1), p.115-125
Main Authors: Murray, J.J., Neuman, C.P.
Format: Article
Language:English
Subjects:
Applied sciences
Computational efficiency
Computational modeling
Control system synthesis
Equations
Exact sciences and technology
Heuristic algorithms
Kinematics
Manipulator dynamics
Material handling, hoisting. Storage. Packaging
Organizing
Real time systems
Robots
Transfert equipment, manipulators
industrial robots
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Summary:In 1983, the computer program called algebraic robot modeler (ARM) was implemented to generate symbolically complete closed-form and recursive dynamic robot models. To enhance computational efficiency for dynamic simulation and real-time control, the systematic organization of these symbolic models was introduced in 1985 to remove repetitive calculations within and across equations and thereby generate customized robot dynamics algorithms. The systematic organization procedure of ARM is detailed and its performance compared with documented organizations. It is pointed out that the systematic organization procedure, and the exploitation of kinematic and dynamic manipulator structures through symbolic modeling, make ARM-generated customized algorithms the most computationally efficient manipulator dynamics algorithms of those compared.< >
ISSN:0018-9472
2168-2909
DOI:10.1109/21.87059