Efficient method for robot forward dynamics computation
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.103680
Abstract: Abstract Conventional methods for solving robot forward dynamics are characterized by high computational complexity. Recursive Newton-Euler algorithm (RNEA) is the most efficient computational method used for deriving a manipulator's dynamic equations of motion. In order… read more here.
Keywords: efficient method; rnea; robot forward; robot ... See more keywords
Unified GPU-Parallelizable Robot Forward Dynamics Computation Using Band Sparsity
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2017.2735479
Abstract: This letter proposes a unified GPU-parallelizable approach for robot forward dynamics (FD) computation based on the key fact that parallelism of prevailing FD algorithms benefits from the essential band sparsity of the joint space inertia… read more here.
Keywords: unified gpu; band sparsity; dynamics computation; robot forward ... See more keywords