IEEE - Institute of Electrical and Electronics Engineers, Inc. - Efficient parallel formulation for dynamics simulation of large articulated robotic systems

2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)

Author(s): Krzysztof Chadaj ; Pawel Malczyk ; Janusz Fraczek
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 August 2015
Conference Location: Miedzyzdroje, Poland
Conference Date: 24 August 2015
Page(s): 441 - 446
ISBN (CD): 978-1-4799-8700-9
ISBN (Electronic): 978-1-4799-8701-6
DOI: 10.1109/MMAR.2015.7283916
Regular:

This paper presents a recursive and parallel formulation for the dynamics simulation of large articulated robotic systems based on the Hamilton's canonical equations. Although Hamilton's canonical... View More

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