Tell a friend
Print
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).
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png)
|
PDF
424kB |
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/ | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Conference or Workshop Item (Paper) | |||||||||
| Additional Information: | LIDO-Berichtsjahr=2004, | |||||||||
| Title: | Symbolic Computation of the Inverse Dynamics of Elastic Joint Robots | |||||||||
| Authors: |
| |||||||||
| 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 Dates: | 2004-04-26 - 2004-05-01 | |||||||||
| 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: | 31 Jul 2019 19:15 |
Repository Staff Only: item control page
