A comparative analysis of the hardware requirements for the Lagrange-Euler and Newton-Euler dynamics formulations
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 291 - 296, April, 1988
Abstract
In a previous paper (1987), the authors proposed a parallel computational scheme that is based on the mathematical decomposition of the equations into their primitive matrix/vector arithmetic operations. It was shown that the mathematical decomposition scheme provides an efficient mechanism to reduce the computational cycle of both the Newton-Euler (N-E) and the Lagrange-Euler (L-E) formulations. In the present paper, the N-E and L-E equations are analyzed from a hardware perspective and the results for each are compared. The analysis shows that N-E is more efficient than L-E from the computational as well as the hardware point of view.
BibTeX
@conference{Ramos-1988-15395,author = {S. Ramos and Pradeep Khosla},
title = {A comparative analysis of the hardware requirements for the Lagrange-Euler and Newton-Euler dynamics formulations},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1988},
month = {April},
volume = {1},
pages = {291 - 296},
}
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