Decomposition and Cross-Product-Based Method for Computing the Dynamic Equation of Robots-Reference-Cited by-同舟云学术

Decomposition and Cross-Product-Based Method for Computing the Dynamic Equation of Robots

Published:2012-01-01 Issue:2 Volume:9 Page:48
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Shih Ching-Long¹,Lee Wen-Yo²,Wu Chia-Pin¹

Affiliation:

1. National Taiwan University of Science and Technology, Department of Electrical Engineering, Taiwan

2. LungHwa University of Science and Technology, Department of Information Networking Engineering, Taiwan

Abstract

This paper aims to demonstrate a clear relationship between Lagrange equations and Newton-Euler equations regarding computational methods for robot dynamics, from which we derive a systematic method for using either symbolic or on-line numerical computations. Based on the decomposition approach and cross-product operation, a computing method for robot dynamics can be easily developed. The advantages of this computing framework are that: it can be used for both symbolic and on-line numeric computation purposes, and it can also be applied to biped systems, as well as some simple closed-chain robot systems.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/50271

Reference7 articles.

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3. Symbolic modeling of robot kinematics and dynamics

4. Use of symbolic computation in robotics education

5. On-Line Computational Scheme for Mechanical Manipulators