An efficient algorithm for automatic generation of manipulator dynamic equations

Yin, Shihong; Yuh, J.

doi:10.1109/robot.1989.100237

Cited by 3 publications

(3 citation statements)

References 14 publications

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“…In [28] Christoffel symbols are calculated in symbolic form, based on the Lagrangian formulation of the robot dynamics. This method has become the norm and is presented in standard robotics textbooks [29,26,30], including the Handbook of Robotics [31] P100, where the deduction of Christoffel symbols is introduced under the section "Lagrange Formulation".…”

Section: Motivation and Contributionmentioning

confidence: 99%

Robot dynamics: A recursive algorithm for efficient calculation of Christoffel symbols

Safeea

Neto

Béarée

2019

Mechanism and Machine Theory

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Christoffel symbols are very important in robotics. They are used for tuning various proposed robot controllers, for determining the bounds on Coriolis/Centrifugal matrix, for mathematical formulation of optimal trajectory calculation, among others. In literature, Christoffel symbols are calculated from the Lagrangian formulation using an off-line generated symbolic formula. In this study we present an efficient recursive nonsymbolic method where Christoffel symbols are calculated based on the robot's transformation matrices and inertial parameters. The proposed method was analyzed in terms of execution time, computational complexity and numerical error. Results show that the proposed algorithm compares favorably with existing methods.

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Section: Motivation and Contributionmentioning

confidence: 99%

Robot dynamics: A recursive algorithm for efficient calculation of Christoffel symbols

Safeea

Neto

Béarée

2019

Mechanism and Machine Theory

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“…Automatic Robot Dynamic Equation Generator (ARDEG) based on the modified LagrangeÀChris-Christoffel formulation automatically generates the equation of motion for open chain manipulators for the purpose of robot system analysis and control [18]. It was developed in Turbo Basic on an IBM PC/AT.…”

Section: Previous Researchmentioning

confidence: 99%

“…Yin and Yuh [18] compared ARDEG with DYMR, ARM, EMDEG, and PIODYM-I in terms of the computing time and compactness of the resulting equations. The comparisons showed that ARDEG requires much less computing time to symbolically derive the equation of motion than the others.…”

Section: Previous Researchmentioning

confidence: 99%

Dynamics simulation toolbox for industrial robot manipulators

Toz¹,

Küçük²

2010

Comp Applic In Engineering

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A new robot toolbox for dynamics simulation based on MATLAB GraphicalUser Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial robot manipulator's dynamics based on LangrangeÀEuler and NewtonÀEuler formulations. Since most of the industrial robot manipulators are produced with six degrees of freedom (DOF) such as the PUMA 560, the Fanuc ArcMate 120iB and Stanford Arm, the library of the toolbox includes sixteen fundamental 6-DOF robot manipulators with Euler wrist. The software can be used to interactively perform robotics analysis and off-line programming of robot dynamics such as forward and inverse dynamics as well as to interactively teach and simulate the basic principles of robot dynamics in a very realistic way. In order to demonstrate the user-friendly features of the toolbox much better, simulation of the NS robot manipulator (Stanford Arm) is provided as an example. ß

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Analytical generation of the dynamical equations for mechanical manipulators

Horn¹,

Linge²

1995

MIC

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A package to generate the symbolic dynamic equations describing the relation between forces and movements for serial mechanical linkages with rigid constituents is presented. The relative movement between the rigid parts is assumed to be either a rotation about an axis or a translation along an axis. Two algorithms are implemented, a Lagrange-Euler method and a Newton-Euler method. The former can be used to solve both the inverse and the forward dynamics problems, while the latter requires fewer arithmetical operations but only allows solution of the inverse dynamics problem. Two test examples are presented, the double pendulum and the modified Stanford manipulator

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An efficient algorithm for automatic generation of manipulator dynamic equations

Cited by 3 publications

References 14 publications

Robot dynamics: A recursive algorithm for efficient calculation of Christoffel symbols

Robot dynamics: A recursive algorithm for efficient calculation of Christoffel symbols

Dynamics simulation toolbox for industrial robot manipulators

Analytical generation of the dynamical equations for mechanical manipulators

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