Comparison of numerical methods in code as solvers for simulation of robotic systems

Abstract

This research introduces the development of the implementation and comparison of algorithms of numeric methods which solve a system of ordinary differential equations, commonly known like solvers. These were applied to a robotic system with 4 grades of freedom in open loop based on the non-linear dynamic model in the joint space. The performance of the robotic system solution simulated on Matlab®/Simulink® with S-Function has been assumed to be the reference criterion to contrast the results that were get from codification of the solvers. Moreover, some inferences were set for each one of the algorythms, for instance, simulation time and computing cost. The analysis of the results lets account the implementation of the code of the numeric methods for simulation purposes, thus, it may aid for the optimization of simulation times and computing cost.