STUDY ON COMPUTATIONAL ACCURACY OF ROBOT DYNAMICS

›› 1998, Vol. 34 ›› Issue (1): 14-20.

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STUDY ON COMPUTATIONAL ACCURACY OF ROBOT DYNAMICS

Wang Shuxin;Liu Youwu;Wu Hongtao

Tianjin University

Published:1998-01-01

Abstract

Abstract: The cause of “Energy consumption” is analyzed in the numerical computation of robot dynamics. The relationship among coefficients of dynamic equations is derived, and the canonical equations are developed. The error accumulation of dynamics can be eliminated by using canonical equation and symplectic integral method so that the computational accuracy can be ensured effectively.

Key words: Canonical equation, Dynamics, Robot, Symplectic algorithm

CLC Number:

TP241

Wang Shuxin;Liu Youwu;Wu Hongtao. STUDY ON COMPUTATIONAL ACCURACY OF ROBOT DYNAMICS[J]. , 1998, 34(1): 14-20.

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STUDY ON COMPUTATIONAL ACCURACY OF ROBOT DYNAMICS

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