Efficient recursive algorithm for the operational space inertia matrix of branching mechanisms
نویسندگان
چکیده
This article describes an ef cient recursive algorithm for the computation of the operational space inertia matrix of an n-link branching robotic mechanism with multiple .m/ operational points. The proposed algorithm achieves the complexity of O.nm Cm3/. Sincem can be considered as a small constant in practice, as the number of links increases, this algorithm performs signi cantly better than the existingO.n3 C m3/ symbolic method. The experimental results of this algorithm are presented using real-time dynamic simulation.
منابع مشابه
Efficient algorithm for extended operational space inertia matrix
This paper describes a n efficient recursive algorithm f o r the computation of the extended operational space inertia matr ix of a n n-link branching (tree-like) redundant robotic mechanism with multiple operational points. T h e proposed algorithm behaves linearly with respect t o n in practice. Therefore, as the number of links increases, this algorithm performs significantly better than the...
متن کاملOperational Space Dynamics of a Space Robot and Computational Efficient Algorithm
On-orbit servicing space robot is one of the challenging applications in space robotic field. Main task of the on-orbit space robot involves the tracking, the grasping and the positioning of a target. The dynamics in operational space is useful to achieve such tasks in Cartesian space. The operational space dynamics is a formulation of the dynamics of a complex branching redundant mechanism in ...
متن کاملOperational Space Dynamics: Efficient Algorithms for Modeling and Control of Branching Mechanisms
This paper discusses intuitive and eficient ways to model and control the dynamics of highly redundant branching mechanisms using the operational space formulation. As the complexity of mechanisms increases, their modeling and control become increasingly d i f i cult. The operational space formulation provides a natural framework for these problems since its basic structure provides dynamic dec...
متن کاملEfficient recursive dynamics algorithms for operational-space control with application to legged locomotion
This paper presents new recursive dynamics algorithms that enable operational-space control of floating-base systems to be performed at faster rates. This type of control approach requires the computation of operational-space quantities and suffers from high computational order when these quantities are directly computed through the use of the mass matrix and Jacobian from the joint-space formu...
متن کاملExploiting Sparsity in Operational-space Dynamics
This paper presents a new method for calculating operational-space inertia matrices, and other related quantities, for branched kinematic trees. It is based on the exploitation of branch-induced sparsity in the joint-space inertia matrix and the task Jacobian. Detailed cost figures are given for the new method, and its efficacy is demonstrated by means of a realistic example based on the ASIMO ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Advanced Robotics
دوره 14 شماره
صفحات -
تاریخ انتشار 2001