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Höpler, Robert und 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).
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Kurzfassung
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.
| Dokumentart: | Konferenzbeitrag (Paper) | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Zusätzliche Informationen: | LIDO-Berichtsjahr=2004, | |||||||||
| Titel: | Symbolic Computation of the Inverse Dynamics of Elastic Joint Robots | |||||||||
| Autoren: |
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| Datum: | März 2004 | |||||||||
| Referierte Publikation: | Ja | |||||||||
| In Open Access: | Nein | |||||||||
| In SCOPUS: | Nein | |||||||||
| In ISI Web of Science: | Nein | |||||||||
| Seitenbereich: | Seiten 4314-4319 | |||||||||
| Status: | veröffentlicht | |||||||||
| Stichwörter: | Inverse Dynamics, Elastic Joint Robot, Spatial Operator Algebra | |||||||||
| Veranstaltungstitel: | Proc. of the 2004 IEEE Intern. Conference on Robotics and Automation | |||||||||
| Veranstaltungsort: | New Orleans (USA) | |||||||||
| Veranstaltungsart: | internationale Konferenz | |||||||||
| Veranstaltungsdatum: | 2004-04-26 - 2004-05-01 | |||||||||
| Veranstalter : | ICRA 2004 | |||||||||
| HGF - Forschungsbereich: | keine Zuordnung | |||||||||
| HGF - Programm: | keine Zuordnung | |||||||||
| HGF - Programmthema: | keine Zuordnung | |||||||||
| DLR - Schwerpunkt: | keine Zuordnung | |||||||||
| DLR - Forschungsgebiet: | keine Zuordnung | |||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | keine Zuordnung | |||||||||
| Standort: | Oberpfaffenhofen | |||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) | |||||||||
| Hinterlegt von: | DLR-Beauftragter, elib | |||||||||
| Hinterlegt am: | 06 Feb 2006 | |||||||||
| Letzte Änderung: | 12 Dez 2013 20:02 |
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