Efficient robot inverse and direct dynamics algorithms using microcomputer based symbolic generation
Efficient robot inverse and direct dynamics algorithms using microcomputer based symbolic generation
复制标题
使用基于微计算机的符号生成的高效机器人逆向和正向动力学算法
DOI：
10.1109/robot.1989.100239
复制
发表时间：
1989
期刊：
影响因子：
--
通讯作者：
R. Toogood
中科院分区：
文献类型：
--
作者：
R. Toogood
描述了一种自动生成机器人操纵臂逆解和正解FORTRAN代码的方法。该方法基于一个有效的递推拉格朗日逆动力学公式符号生成系统。原始符号生成的两种变体用于生成用于直接动力学解决方案的例程。符号生成需要用户最少的输入，在微型计算机上只需要几秒钟，并且产生非常高效的FORTRAN代码，具有文献中报道的最低计算需求
A method is described for automatically generating FORTRAN code for the inverse and direct dynamics solution of robot manipulators. The method is based on an efficient symbolic generation system for the recursive Lagrangian inverse dynamics formulation. Two variations of the original symbolic generation are used to produce routines for use in the direct dynamics solution. The symbolic generation requires minimal input from the user, takes only a few seconds on a microcomputer, and produces very efficient FORTRAN code having among the lowest computational requirements yet reported in the literature.<<ETX>>