Evaluation of manipulator direct dynamics using customized Rung-Kutta Methods

Machado, J. A. Tenreiro; Galhano, Alexandra M. S. F.

http://hdl.handle.net/10400.22/8854

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Authors

Machado, J. A. Tenreiro

Galhano, Alexandra M. S. F.

Abstract(s)

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