On reducing numerical complexity of complex robot dynamics

DOI10.1023/A:1008060015028MaRDI QIDQ1286490zbMATH OpenOpenAlexFDO

Authors Miloš Racković, Dušan Surla, Miomir Vukobratović

Publication date 24 June 1999

Published in Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1008060015028

zbMATH Keywords

kinematic chainsmodeling of complex robotic mechanismsnumerical complexityreal timestructural matrixsymbolic models

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85)

Review text

This paper is concerned with reducing the level of numerical complexity in the modeling of complex robotic mechanisms, with the aim of calculating values of the modeled quantities in real time. In particular, the authors describe an algorithm for reducing the numerical complexity of analytical expressions which arise in typical dynamic models of robotic systems. A key part of their algorithm is the decomposition of polynomial expressions into products. The authors illustrate their algorithm using an example of an anthropomorphic model with fourteen links connected by rotational joints.

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Cited in

(4)

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Describes a project that uses

Uses Software

• REDUCE

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