On reducing numerical complexity of complex robot dynamics (Q1286490)

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.