On reducing numerical complexity of complex robot dynamics
type: Item
instance of: scholarly article
title: On reducing numerical complexity of complex robot dynamics
zbMATH Open document ID: 0923.93040
DOI: 10.1023/A:1008060015028
author: Miloš Racković
author: Dušan Surla
author: Miomir Vukobratović
published in: Journal of Intelligent \& Robotic Systems
publication date: 1999-06-24T00:00:00Z
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.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70B15
zbMATH DE Number: 1283761
zbMATH Keywords: symbolic models
zbMATH Keywords: kinematic chains
zbMATH Keywords: structural matrix
zbMATH Keywords: numerical complexity
zbMATH Keywords: modeling of complex robotic mechanisms
zbMATH Keywords: real time
reviewed by: William J. Satzer Jr.
describes a project that uses: REDUCE
MaRDI profile type: Publication
full work available at URL: a:1008060015028
OpenAlex ID: W131024509
description: scientific article; zbMATH DE number 1283761