Dynamics of Tree-Type Robotic Systems by Suril Vijaykumar Shah Subir Kumar Saha & Jayanta Kumar Dutt

Author:Suril Vijaykumar Shah, Subir Kumar Saha & Jayanta Kumar Dutt
Language: eng
Format: epub
Publisher: Springer Netherlands, Dordrecht

6.3 Computational Efficiency

In order to find the computational efficiency of the recursive inverse and forward dynamics algorithms given in Tables 6.1 and 6.2, complexities of the different steps are counted in terms of arithmetic operations, namely, Multiplications/Divisions (M) and Additions/Subtractions (A), as shown in Tables 6.8 and 6.9, respectively.Table 6.8Computational count for the recursive inverse dynamics of a fixed-base system

Forward recursion: For k = 1:η, r = 1: k (Given I k , d k , m k , m k d k , )

Download

Copyright Disclaimer:
This site does not store any files on its server. We only index and link to content provided by other sites. Please contact the content providers to delete copyright contents if any and email us, we'll remove relevant links or contents immediately.