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Symbolic Computation of the Inverse Dynamics of Elastic Joint Robots

Höpler, Robert and Thümmel, Michael (2004) Symbolic Computation of the Inverse Dynamics of Elastic Joint Robots. Proc. of the 2004 IEEE Intern. Conference on Robotics and Automation, 2004-04-26 - 2004-05-01, New Orleans (USA).

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Abstract

Efficient calculation of the inverse dynamics of robotic mechanisms serves as a basis for a variety of control schemes. Classical algorithms for rigid multibody systems do not apply when more realistic modeling is required. The computational treatment of the emerging non-linear equations augmented by drivetrain dynamics and elasticity imposes various challenges on the algorithmic solutions. This paper presents a method for recursive calculation of the inverse dynamics of real-world robots considering elasticity and gyroscopic effects introduced by the drivetrains. A study of the equations of motion elucidates the demand for analytical derivatives of the dynamics up to a maximum order depending on the number of joints. This problem is solved for the first time by means of higher-order time erivatives of spatial operators proposed by the Spatial erator Algebra.

Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2004,
Title:Symbolic Computation of the Inverse Dynamics of Elastic Joint Robots
Authors:
AuthorsInstitution or Email of Authors
Höpler, RobertUNSPECIFIED
Thümmel, MichaelUNSPECIFIED
Date:March 2004
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 4314-4319
Status:Published
Keywords:Inverse Dynamics, Elastic Joint Robot, Spatial Operator Algebra
Event Title:Proc. of the 2004 IEEE Intern. Conference on Robotics and Automation
Event Location:New Orleans (USA)
Event Type:international Conference
Event Dates:2004-04-26 - 2004-05-01
Organizer:ICRA 2004
HGF - Research field:other
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:no assignement
DLR - Program:no assignment
DLR - Research theme (Project):other
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: elib DLR-Beauftragter
Deposited On:06 Feb 2006
Last Modified:12 Dec 2013 20:02

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