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Numerical Solution for Robot Arm ProblemUsing Limiting Formulas of RK(7,8)
SUKUMAR SENTHILKUMAR 한국전산응용수학회 2008 Journal of applied mathematics & informatics Vol.26 No.3-4
The aim of this article is focused on providing numerical so-lutions for system of second order robot arm problem using the RK-eightstage seventh order limiting formulas. The parameters governing the armmodel of a robot control problem have also been discussed through RK-eight stage seventh order limiting algorithm. The precised solution of thesystem of equations representing the arm model of a robot has been com-pared with the corresponding approximate solutions at dierent time in-tervals. Results and comparison show the eciency of the numerical in-tegration algorithm based on the absolute error between the exact andapproximate solutions. Based on the numerical results a thorough compar-ison is carried out between the numerical algorithms.AMS Mathematics Subject Classication: 65L10, CR G1.7Key-words: RK-eight stage seventh order limiting formulas, Ordinary Dif-ferential Equations, Singular Systems and Robot arm Problem.
RK- Methods for Robot Application problems
Senthilkumar, Sukumar,Lee, Malrey,Kwon, Tae-Kyu The Institute of Internet 2013 International journal of advanced smart convergenc Vol.2 No.1
The significance, is to introduce a novel way to employ the improved Runge-Kutta fifth order five stage method, here after called as Modified IRK(5,5) method, for system of second order robot arm problem and variations in angles at the joints in which parameters governing with two degrees of freedom which requires lesser number of function evaluations per time step as compared to the existing ones, in order to save time and spaceAn ultimate aim of this present paper is to solve application problem such as robot arm and initial value problems by applying Runge-Kutta fifth order five stage numerical techniques. The calculated output for robot arm coincides with exact solution which is found to be better, suitable and feasible for solving real time problems.