A recursive, numerically stable, and efficient simulation algorithm for serial robots

Mohan, Ashish; Saha, Subir Kumar

doi:10.1007/s11044-007-9044-8

Cited by 41 publications

(13 citation statements)

References 21 publications

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“…Systems with closedloops which are used in automobile steering systems were analyzed by Hanzaki et al (2009), whereas fuel injection pumps of diesel engines with rolling contacts were analyzed by Sundarranan et al (2012). Extending the concept of the DeNOC matrices to other type of systems, Mohan and Saha (2007) showed how to derive the DeNOC matrices for a rigid-flexible multibody system. The methodology not only provided efficient dynamic algorithms but also produced numerically stable results.…”

Section: The Decoupled Noc (Denoc)mentioning

confidence: 99%

Evolution of the DeNOC-based dynamic modelling for multibody systems

2013

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Abstract. Dynamic modelling of a multibody system plays very essential role in its analyses. As a result, several methods for dynamic modelling have evolved over the years that allow one to analyse multibody systems in a very efficient manner. One such method of dynamic modelling is based on the concept of the Decoupled Natural Orthogonal Complement (DeNOC) matrices. The DeNOC-based methodology for dynamics modelling, since its introduction in 1995, has been applied to a variety of multibody systems such as serial, parallel, general closed-loop, flexible, legged, cam-follower, and space robots. The methodology has also proven useful for modelling of proteins and hyper-degree-of-freedom systems like ropes, chains, etc. This paper captures the evolution of the DeNOC-based dynamic modelling applied to different type of systems, and its benefits over other existing methodologies. It is shown that the DeNOC-based modelling provides deeper understanding of the dynamics of a multibody system. The power of the DeNOC-based modelling has been illustrated using several numerical examples.

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Section: The Decoupled Noc (Denoc)mentioning

confidence: 99%

Evolution of the DeNOC-based dynamic modelling for multibody systems

2013

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“…In the work of Saha and colleagues [5], [11], [10], which is an extension of the previous work in [8] and [9], the authors apply Gaussian elimination to the generalized inertia matrix, M (θ) in (10). This approach uses an UDU T factorization to invert M (θ), via backward and subsequent forward substitution, to derive analytic expressions for the second-order derivatives of the generalized variables (θ in (8)).…”

Section: Recursive Generalized Inertia Inversionmentioning

confidence: 99%

“…are presented. Further implementation details are left to [5]. Using the fact that U is upper triangular,φ in step 1.…”

Section: Recursive Generalized Inertia Inversionmentioning

confidence: 99%

Recursive dynamics and feedback linearizing control of serial-chain manipulators

Travers

Choset

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Manipulators that have the compliance necessary to share the same workspace and safely interact with people are currently of great interest to both the industrial as well as research communities. This work focuses on the development of nonlinear controllers for compliant serial-chain manipulators. In particular, we derive a novel algorithm that analytically computes feedback linearizing controllers for N -link manipulators with compliant joints. It is possible to express the controllers in closed form because we use geometric notation to concisely derive an algorithm that analytically inverts the manipulator's generalized inertia matrix. The resultant recursive dynamic expressions make it possible to solve for the feedback linearizing controllers exactly. Simulation results which apply the closedform controllers to the analytic dynamics of a six-joint serial manipulator with series-elastic actuators are provided.

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“…Therefore, over 30 years, the robotics researchers have focused on the problem of computational efficiency. Many efficient O (n) algorithms have been developed for inverse [1][2][3][4][5][6] and forward dynamics [7][8][9][10] of robotic systems. For more details on the efficient dynamic algorithms, we refer to [11,12].…”

Section: Introductionmentioning

confidence: 99%

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

Al-Shuka

Song

2018

Int. J. Dynam. Control

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Partitioned approximation control is avoided in most decentralized control algorithms; however, it is essential to design a feedforward control term for improving the tracking accuracy of the desired references. In addition, consideration of actuator dynamics is important for a robot with high-velocity movement and highly varying loads. As a result, this work is focused on decentralized adaptive partitioned approximation control for complex robotic systems using the orthogonal basis functions as strong approximators. In essence, the partitioned approximation technique is intrinsically decentralized with some modifications. Three actuator control modes are considered in this study: (i) a torque control mode in which the armature current is well controlled by a current servo amplifier and the motor torque/current constant is known, (ii) a current control mode in which the torque/current constant is unknown, and (iii) a voltage control mode with no current servo control being available. The proposed decentralized control law consists of three terms: the partitioned approximation-based feedforward term that is necessary for precise tracking, the high gain-based feedback term, and the adaptive sliding gain-based term for compensation of modeling error. The passivity property is essential to prove the stability of local stability of the individual subsystem with guaranteed global stability. Two case studies are used to prove the validity of the proposed controller: a two-link manipulator and a six-link biped robot.

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A recursive, numerically stable, and efficient simulation algorithm for serial robots

Cited by 41 publications

References 21 publications

Evolution of the DeNOC-based dynamic modelling for multibody systems

Evolution of the DeNOC-based dynamic modelling for multibody systems

Recursive dynamics and feedback linearizing control of serial-chain manipulators

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

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