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• W803494668 abstract "The applicability of conjugate gradient algorithms for computation of the manipulator forward dynamics is investigated. The redundancies in the previously proposed conjugate gradient algorithm are analyzed. A new version is developed which, by avoiding these redundancies, achieves a significantly greater efficiency. A preconditioned conjugate gradient algorithm is also presented. A diagonal matrix whose elements are the diagonal elements of the inertia matrix is proposed as the preconditioner. In order to increase the computational efficiency, an algorithm is developed which exploits the synergism between the computation of the diagonal elements of the inertia matrix and that required by the conjugate gradient algorithm." @default.
• W803494668 created "2016-06-24" @default.
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• W803494668 date "1989-01-31" @default.
• W803494668 modified "2023-10-01" @default.
• W803494668 title "Efficient conjugate gradient algorithms for computation of the manipulator forward dynamics" @default.
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• W803494668 hasPublicationYear "1989" @default.
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