Tell a friend
Print
Garofalo, Gianluca and Ott, Christian and 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, 03-08 Nov 2013, Tokyo, Japan. doi: 10.1109/iros.2013.6696688. ISSN 1042-296X.
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
494kB |
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/112836/ | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | On the closed form computation of the dynamic matrices and their differentiations | ||||||||||||||||
| Authors: |
| ||||||||||||||||
| Date: | November 2013 | ||||||||||||||||
| Journal or Publication Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X) | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||
| DOI: | 10.1109/iros.2013.6696688 | ||||||||||||||||
| ISSN: | 1042-296X | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | Dynamics | ||||||||||||||||
| Event Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
| Event Location: | Tokyo, Japan | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Dates: | 03-08 Nov 2013 | ||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||
| DLR - Research theme (Project): | R - Terrestrial Assistance Robotics (old) | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||
| Deposited By: | Garofalo, Dr. Ing. Gianluca | ||||||||||||||||
| Deposited On: | 14 Jul 2017 17:35 | ||||||||||||||||
| Last Modified: | 24 Jul 2023 09:25 |
Repository Staff Only: item control page
