A numerical algorithm for solving manipulator forward dynamics

A new algorithm is presented for iterative solution of systems of nonlinear ordinary differential equations (ODEs) with any order for multibody dynami cs and control problems. The collocation technique (based on the explicit f ixed-point iteration scheme) may be used for solving both initial value pro blems (IVPs) and boundary value problems (BVPs), The BVP is solved by first transforming it into the IVP. If the Lipschitz constant is large and the a lgorithm diverges in a single ('long') domain, the domain is partitioned in to a number of subdomains and the local solutions of the corresponding BVPs are matched either locally (in parallel) or globally. The technique is gen eral and may be applied to general systems of ODEs in any field. As an illu stration, the forward dynamics problem of a manipulator is solved as an IVP and then as a BVP. (C) 1999 Elsevier Science Ltd. All rights reserved.