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On the closed form computation of the dynamic matrices and their differentiations

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. ISSN 1042-296X

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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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garofalo, Gianlucagianluca.garofalo (at) dlr.deUNSPECIFIED
Ott, Christianchristian.ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.deUNSPECIFIED
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
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
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:31 Jul 2019 20:10

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