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On reducing numerical complexity of complex robot dynamics
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DOI：10.1023/A:1008060015028.png)
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摘要
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An algorithm for the reduction of the numerical complexity of the analytical expressions participating in the dynamic model of robotic mechanism is a necessary part of the process of mathematical modelling of complex robotic mechanisms in symbolic form. Decomposition of the polynomial expressions into the products is a basic part of the algorithm for reducing the number of numerical operations in the analytical expressions of the robotic mechanisms dynamic models. The mathematical background for the data structures as well as the algorithm for decomposition of the polynomial expressions is developed and described in detail. The procedure for the reduction of the numerical complexity is illustrated by an example of the anthropomorphic locomotion configuration with fourteen degrees of freedom, and the obtained results are presented. The emphasis was placed on the procedure for decomposition of the expressions into the products because this procedure gives additional reduction in the number of mathematical operations.
Keyword:
symbolic model
numerical complexity
kinematic chain
structural matrix
graph
numeric-symbolic model
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