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Garofalo, Gianluca und Ott, Christian und Albu-Schäffer, Alin (2013) On the closed form computation of the dynamic matrices and their differentiations. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013-11-03 - 2013-11-08, Tokyo, Japan. doi: 10.1109/iros.2013.6696688. ISSN 1042-296X.
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Kurzfassung
In this paper we review and extend some classic results on rigid body dynamics, in order to give a symbolic expression of the different derivatives of the matrices of the dynamic model of a general tree-structured robot. In what follows the matrices are differentiated with respect to time, state and dynamic parameters. Obviously from the derivatives of the single matrices it is possible to recover the derivatives of the direct and inverse dynamic functions and classic results like the regressor matrix. Moreover an iterative algorithm is sketched which allows to compute all these derivatives as well as the kinematics and dynamics of the robot.
| elib-URL des Eintrags: | https://elib.dlr.de/112836/ | ||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
| Titel: | On the closed form computation of the dynamic matrices and their differentiations | ||||||||||||||||
| Autoren: |
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| Datum: | November 2013 | ||||||||||||||||
| Erschienen in: | IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X) | ||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||
| Open Access: | Ja | ||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||
| DOI: | 10.1109/iros.2013.6696688 | ||||||||||||||||
| ISSN: | 1042-296X | ||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||
| Stichwörter: | Dynamics | ||||||||||||||||
| Veranstaltungstitel: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
| Veranstaltungsort: | Tokyo, Japan | ||||||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
| Veranstaltungsbeginn: | 3 November 2013 | ||||||||||||||||
| Veranstaltungsende: | 8 November 2013 | ||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
| DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
| Hinterlegt von: | Garofalo, Dr. Ing. Gianluca | ||||||||||||||||
| Hinterlegt am: | 14 Jul 2017 17:35 | ||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:17 |
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