Höpler, Robert and 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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Abstract
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.
Item URL in elib: | https://elib.dlr.de/12037/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||
Additional Information: | LIDO-Berichtsjahr=2004, | ||||||||||||
Title: | Symbolic Computation of the Inverse Dynamics of Elastic Joint Robots | ||||||||||||
Authors: |
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Date: | March 2004 | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | No | ||||||||||||
Page Range: | pp. 4314-4319 | ||||||||||||
Status: | Published | ||||||||||||
Keywords: | Inverse Dynamics, Elastic Joint Robot, Spatial Operator Algebra | ||||||||||||
Event Title: | Proc. of the 2004 IEEE Intern. Conference on Robotics and Automation | ||||||||||||
Event Location: | New Orleans (USA) | ||||||||||||
Event Type: | international Conference | ||||||||||||
Event Start Date: | 26 April 2004 | ||||||||||||
Event End Date: | 1 May 2004 | ||||||||||||
Organizer: | ICRA 2004 | ||||||||||||
HGF - Research field: | other | ||||||||||||
HGF - Program: | other | ||||||||||||
HGF - Program Themes: | other | ||||||||||||
DLR - Research area: | no assignment | ||||||||||||
DLR - Program: | no assignment | ||||||||||||
DLR - Research theme (Project): | no assignment | ||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) | ||||||||||||
Deposited By: | DLR-Beauftragter, elib | ||||||||||||
Deposited On: | 06 Feb 2006 | ||||||||||||
Last Modified: | 24 Apr 2024 18:59 |
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