Biomedical Engineering Reference
In-Depth Information
15
τ
1
10
τ
2
5
0
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
-5
-10
Time (Normalized)
-15
FIGURE 4.8
Joint torque profile with external load.
-2.0
-2.5
-3.0
-3.5
Recursive-form
Closed-form
-4.0
-4.5
-5.0
0.0
0.1
0.2
0.3
0.4
Time (Normalized)
0.5
0.6
0.7
0.8
0.9
1.0
FIGURE 4.9
Sensitivity results compared for both the recursive and closed form.
It is essential to understand that the results of the recursive Lagrangian equa-
tions are indeed identical to those obtained from the closed-form equations of
motion. In human modeling and simulation, particularly when a high degree
of fidelity model is sought with a large number of DOF, the recursive Lagrangian
formulation lends itself to numerical solutions.
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