Computational requirements of customized Newton‐Euler algorithms

摘要

AbstractTo reduce the computational requirements of the Newton‐Euler (N‐E) algorithm for real‐time applications, we customize the algorithm for specific manipulator designs. We analyze the computational requirements of the algorithm for designs incorporating practical kinematic and dynamic parameter simplifications. We illustrate our approach by customizing the N‐E algorithm for the CMU direct drive arm II (DD Arm II). Our customized algorithm reduces the computational requirements of the general‐purpose N‐E algorithm by 56 percent. We describe the hardware implementation of our customized algorithm on a Marinco array processor. Our prototype computes in 1.2 ms the inverse dynamic torques for each trajector