Tell a friend
Print
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).
![[img]](http://elib.dlr.de/style/images/fileicons/application_pdf.png)
| PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader 414Kb |
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: |
| ||||||
| 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: | no assignement | ||||||
| HGF - Program: | no assignment | ||||||
| HGF - Program Themes: | no assignment | ||||||
| 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: | 14 Jan 2010 18:23 |
Repository Staff Only: item control page
