Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots
Rohit Kumar,Shivesh Kumar,Andreas Müller,Frank Kirchner,Rohit Kumar,Shivesh Kumar,Andreas Müller,Frank Kirchner
Modeling closed loop mechanisms is a necessity for the control and simulation of various systems and poses a great challenge to rigid body dynamics algorithms. Solving the forward and inverse dynamics for such systems require resolution of loop closure constraints which are often solved via numerical procedures. This brings an additional burden to these algorithms as they have to stabilize and con...
