A symbolic and numeric procedure for manipulator rigid-body dynamic significance analysis and simplification

Author:

Corke Peter I.

Abstract

This paper describes an automated procedure for analysing the significance of each of the many terms in the equations of motion for a serial-link robot manipulator. Significance analysis provides insight into the rigid-body dynamic effects that are significant locally or globally in the manipulator's state space. Deleting those terms that do not contribute significantly to the total joint torque can greatly reduce the computational burden for online control, and a Monte-Carlo style simulation is used to investigate the errors thus introduced. The procedures, freely available, are a hybrid of symbolic and numeric techniques implemented using a standard computer algebra package.

Publisher

Cambridge University Press (CUP)

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Automatic separation method for generation of reconfigurable 6R robot dynamics equations;The International Journal of Advanced Manufacturing Technology;2009-07-28

2. SYMBOLIC PROGRAMMING OF A GRAPH-THEORETIC APPROACH TO FLEXIBLE MULTIBODY DYNAMICS*;Mechanics of Structures and Machines;2002-01-31

3. Unified Dynamic and Control Models for Reconfigurable Robots;Springer Series in Advanced Manufacturing

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