Operational Space Inertia for Closed-Chain Robotic Systems

Author:

Jain Abhinandan1

Affiliation:

1. Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena CA 91109 e-mail:

Abstract

Operational space modeling and control are important techniques for robot manipulation. A key element of operational space control is the operational space inertia matrix (OSIM). The OSIM matrix represents a mapping between end-effector spatial forces and spatial accelerations and is configuration-dependent. In the case of multiple end-effectors, the OSIM also encapsulates the dynamics cross coupling between the end-effectors. The rich structure of the OSIM for tree systems has been exploited by researchers for analysis and the development of low-order computational algorithms. Extending such techniques to the OSIM for closed-chain robotic systems is the focus of this short paper. We derive explicit analytical expressions for the closed-chain OSIM that reveals its close relationship to an extended tree-system OSIM.

Publisher

ASME International

Subject

Applied Mathematics,Mechanical Engineering,Control and Systems Engineering,Applied Mathematics,Mechanical Engineering,Control and Systems Engineering

Reference20 articles.

1. Operational Space Control: A Theoretical and Empirical Comparison;Int. J. Robot. Res.,2008

2. Khatib, O., 1988, “Object Manipulation in a Multi-Effector System,” Proceedings of the 4th International Symposium on Robotics Research, pp. 137–144.

3. A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation;IEEE J. Rob. Autom.,1987

4. Khatib, O., 1985, “The Operational Space Formulation in the Analysis, Design, and Control of Manipulators,” Proceedings of the 3rd International Symposium Robotics Research.

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