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

摘要

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.