Abstract
In this paper, an optimization problem to reduce the number of operations in computing the inverse dynamics of robotic manipulators: when the symbolically derived dynamic equation is given, we transform the equation into a set of statements which reduces the computing time. We propose an optimization algorithm to remove redundant computations from the symbolic equation generated by an algebraic computation system like REDUCE. The goal of the algorithm is to put the symbolic equation in the simplest possible form of computation. Using the algorithm, we develop the optimizer coded by C++. Usually, the symbolically derived dynamic equations consists of hundred terms. Then, in order to effectively use the memory space, we propose the hierarchic multilist data-structure to represent and manipulate the equations. The optimizer is applicable to optimize any type of symbolic equations represented by sum of products. To demonstrate the usefulness of the optimizer, we show some examples treating Lagrange equations for robotic manipulators.
