Customized direct dynamics of mechanical manipulators

Tenreiro Machado, J. A.; Galhano, Alexandra

http://hdl.handle.net/10400.22/13472

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Authors

Tenreiro Machado, J. A.

Galhano, Alexandra

Abstract(s)

This paper studies the eficiency of customized Runge-Kutta methods on the evaluation of the direct dynamics of robot manipulators- Customized consists not only on the elimination of unnecessary and redundant calculations but also on the development of efficient integration methods. In this perspective, we investigate numerical algorithms with high order expansion and integration with adaptative step size based on the embedded estimation of the local truncation error.