Author:
Mata V.,Provenzano S.,Cuadrado J.L.,Valero F.
Abstract
In this paper, two algorithms for
solving the Inverse Dynamic Problem based on the Gibbs-Appell equations
are proposed and verified. Both are developed using mainly vectorial
variables, and the equations are expressed in a recursive form.
The first algorithm has a computational complexity of O(n2)
and is the least efficient of the two; the second
algorithm has a computational complexity of O(n). This algorithm will
be compared with one based on Newton-Euler equations of motion,
formulated in a similar way, and using mainly vectors in
its recursive formulation. The O(n) proposed algorithm will be used
to solve the Inverse Dynamic Problem in a PUMA industrial
robot.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
20 articles.
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