Lecture

Dynamic Modeling of Robots: Implementations

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Description

This lecture covers the various implementation approaches for dynamic modeling of robots, focusing on reducing computational cost and optimizing hardware knowledge. It discusses sensor information, simplification techniques, and the development of dynamic models using Lagrange and Newton-Euler approaches. The instructor explains the iterative implementation of formulas, look-up tables, and real-time calculations of speed and acceleration vectors. Emphasis is placed on the balance between memory size and calculations, as well as the compensation of errors introduced by simplifications. The lecture concludes with a comparison of Lagrange and Newton-Euler methods and their applications in simulation and control.

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Related concepts (32)

Robotics

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

Program optimization

In computer science, program optimization, code optimization, or software optimization, is the process of modifying a software system to make some aspect of it work more efficiently or use fewer resources. In general, a computer program may be optimized so that it executes more rapidly, or to make it capable of operating with less memory storage or other resources, or draw less power. Although the word "optimization" shares the same root as "optimal", it is rare for the process of optimization to produce a truly optimal system.

Robot

A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.

Object code optimizer

An object code optimizer, sometimes also known as a post pass optimizer or, for small sections of code, peephole optimizer, forms part of a software compiler. It takes the output from the source language compile step - the object code or - and tries to replace identifiable sections of the code with replacement code that is more algorithmically efficient (usually improved speed). The earliest "COBOL Optimizer" was developed by Capex Corporation in the mid 1970s for COBOL.

Simulation

A simulation is the imitation of the operation of a real-world process or system over time. Simulations require the use of models; the model represents the key characteristics or behaviors of the selected system or process, whereas the simulation represents the evolution of the model over time. Often, computers are used to execute the simulation. Simulation is used in many contexts, such as simulation of technology for performance tuning or optimizing, safety engineering, testing, training, education, and video games.

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