Abstract
Algorithms to calculate the robot dynamics in real time are demanded for various applications. This paper presents a method for automatic generation of approximated models of robot dynamics. A stochastic approach is used to achieve a maximum on neglects of calculation terms with a minimum in deviation on model accuracy. For robot arms with open kinematic chain the reduced algorithms can be automatically generated by the program system AGReMo. AGReMo produces algorithms with only a few mathematical operations to calculate the system matrices. The loss in model accuracy is insignificant for the investigated robot motions.
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