Abstract
The objective of this paper is to check the efficiency and validity oftwo approaches for computing derivatives of complex functions,automatic differentiation using ADOLC and symbolicdifferentiation using MACSYMA. This has been done in three benchmarkexamples, where the gradient of a Helmholtz energy function has beencomputed for different dimensions of independent variables (Example 1)and Jacobian matrices of inverse kinematics of planar and spatialparallel robots (Examples 2 and 3) have been computed. The results havebeen evaluated under six criteria: preliminary implementation work,computation time, flexibility in applications, limits of applicability,accuracy, and memory requirements.
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