Title: System of second order robot arm problem by an efficient numerical integration algorithm

Authors: R. Ponalagusamy, S. Senthilkumar

Addresses: Department of Mathematics, National Institute of Technology, Tiruchirappalli-620 015, Tamilnadu, India. ' Department of Mathematics, National Institute of Technology, Tiruchirappalli-620 015, Tamilnadu, India

Abstract: A robot arm problem solved by adapting RK-sixth order algorithm is presented in this paper. Results and comparison show the efficiency of the RK-sixth order algorithm based on the absolute error between the exact and approximate solutions at different time intervals. In the present paper, a corrective measure has been taken to obtain the stability polynomial, the ranges for the real part of λh and graphical representation of the stability regions for the case of RK-Butcher algorithm, obtained by Sekar et al. (2004), Murugesan et al. (2004, 2005), Murugesh and Murugesan (2009) and Park et al. (2004a, 2004b). It is found that the error involved in the numerical solution obtained by RK-sixth order algorithm is less in comparison with that obtained by the RK-fifth order and RK-fourth order algorithms respectively.

Keywords: RK-sixth order algorithm; ordinary differential equations; system of second order; robot arms; robot control; stability; variable structure control; controller design.

DOI: 10.1504/IJCMSSE.2010.033156

International Journal of Computational Materials Science and Surface Engineering, 2010 Vol.3 No.2/3, pp.237 - 250

Published online: 10 May 2010 *

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