elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

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, 2013-11-03 - 2013-11-08, Tokyo, Japan. doi: 10.1109/iros.2013.6696688. ISSN 1042-296X.

[img] 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:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Garofalo, GianlucaUNSPECIFIEDhttps://orcid.org/0000-0002-7481-3464UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
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 Start Date:3 November 2013
Event End Date:8 November 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 Apr 2024 20:17

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.