Cartesian Tensor Approach for Fast Computation of Manipulator Dynamics
Document Type
Article
Publication Date
1988
Abstract
Orthogonal second-order Cartesian tensors are used to formulated the Newton-Euler dynamic equations for a robot manipulator. Based on this formulation, an efficient recursive procedure is developed to evaluate the joint torques. The procedure is applicable to all rigid-link manipulators with open-chain kinematic structures with revolute and/or prismatic joints. For simplicity of presentation, only manipulators with (kinematically more complex) revolute joints are considered. An efficient implementation of the proposed method shows that the joint torques for a six-degree-of-freedom manipulator with revolute joint, can be computed in approximately 500 multiplications and 420 additions. For manipulators with 0 degrees or 90 degrees twist angles, the required computations are reduced to 380 multiplications and 315 additions.
Repository Citation
Balafoutis, C. A.,
Misra, P.,
& Patel, R. V.
(1988). Cartesian Tensor Approach for Fast Computation of Manipulator Dynamics. Proceedings. 1988 IEEE International Conference on Robotics and Automation, 1348-1353.
https://corescholar.libraries.wright.edu/ee/291
DOI
10.1109/ROBOT.1988.12255
