Title: Numerical solution of an industrial robot arm control problem using the RK–Butcher algorithm

Authors: K. Murugesan, S. Sekar, V. Murugesh, J.Y. Park

Addresses: Department of Mathematics, Pusan National University, Pusan 609-735, Korea. Department of Mathematics and Computer Applications, National Institute of Technology, Tiruchirappalli 620 015, Tamil Nadu, India. Department of Mathematics and Computer Applications, National Institute of Technology, Tiruchirappalli 620 015, Tamil Nadu, India. Department of Mathematics, Pusan National University, Pusan 609-735, Korea

Abstract: In this paper, the parameters governing the arm model of a robot control problem have been studied through RK–Butcher algorithm. The exact solution of the system of equations representing the arm model of a robot have been compared with the corresponding discrete solutions (approximate solutions) at different time intervals using the above mentioned RK–Butcher algorithm and also the absolute error between the exact and discrete solutions have been determined. An elaborate, well composed comparison has been carried out with the aid of the obtained results and graphs.

Keywords: Runge–Kutta method; arithmetic mean; RK–Butcher algorithm; ordinary differential equations; singular systems.

DOI: 10.1504/IJCAT.2004.003639

International Journal of Computer Applications in Technology, 2004 Vol.19 No.2, pp.132 - 138

Published online: 27 Sep 2003 *

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