연속적인 폐루프 시스템 해석을 위한 순환적 다물체 동역학 공식의 비교 연구

In this paper, three different recursive formulations are compared for the efficiency analysis of the repeated closed loop systems. The repeated closed loop system is defined as a system which is consistent with several closed loop subsystems serially connected one another. Three different recursive formulations are introduced to analyze the system. One is the recursive formulation with acceleration reduction, the other is the recursive formulation without acceleration reduction, and the last one is the recursive subsystem synthesis method. Excavator manipulator arm model has been employed as a repeated closed loop system to apply three different formulations. Three formulations have been implemented in Matlab program. CPU time analysis has been carried out to investigate the efficiency of the recursive subsystem synthesis method.