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Портал Begell Электронная Бибилиотека e-Книги Журналы Справочники и Сборники статей Коллекции
Journal of Automation and Information Sciences
SJR: 0.238 SNIP: 0.464 CiteScore™: 0.27

ISSN Печать: 1064-2315
ISSN Онлайн: 2163-9337

Выпуски:
Том 51, 2019 Том 50, 2018 Том 49, 2017 Том 48, 2016 Том 47, 2015 Том 46, 2014 Том 45, 2013 Том 44, 2012 Том 43, 2011 Том 42, 2010 Том 41, 2009 Том 40, 2008 Том 39, 2007 Том 38, 2006 Том 37, 2005 Том 36, 2004 Том 35, 2003 Том 34, 2002 Том 33, 2001 Том 32, 2000 Том 31, 1999 Том 30, 1998 Том 29, 1997 Том 28, 1996

Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v31.i1-3.170
pages 121-128

Dynamics of Manipulation Robots: Numerical-Analytical Method of Formation and Investigation of Computational Complexity

Yuriy V. Krak
Kiev National Taras Shevchenko University, V.M. Glushkov Institute of Cybernetics of National Academy of Sciences of Ukraine, Kiev

Краткое описание

An analysis is performed of the number of arithmetic operations necessary to form complete dynamic equations of manipulation robots based on the developed numerical-analytical method. Dependence is shown of the computational complexity of dynamic equation formation on the number of generalized coordinates of the manipulator, on the type of joints, geometric and inertia characteristics of its links. Computational complexity of formation of manipulators with six and less rotational degrees of freedom is shown and analyzed.


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