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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.

Notes

Text Reference

S. Ramos and Pradeep Khosla, "A comparative analysis of the hardware requirements for the Lagrange-Euler and Newton-Euler dynamics formulations," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '88), April, 1988, pp. 291 - 296.

BibTeX Reference

@inproceedings{Khosla_1988_3562,
   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 the IEEE International Conference on Robotics and Automation (ICRA '88)",
   pages = "291 - 296",
   month = "April",
   year = "1988",
   volume = "1",
}

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