Title :
Dynamic modeling of closed-chain robotic manipulators and implications for trajectory control
Author :
Murray, John J. ; Lovell, Gilbert H.
Author_Institution :
Martin Marietta Aerosp. & Naval Syst., Baltimore, MD, USA
fDate :
8/1/1989 12:00:00 AM
Abstract :
A simple, physically insightful method for dynamic modeling of manipulators containing closed kinematic chains is presented. Founded on D´Alembert´s principle, the method centers around a transformation from the well-understood dynamics of serial and open-chain mechanisms to closed-chain dynamic robot models. The framework for the closed-chain dynamic robot model fosters straightforward extensions of serial robot engineering activities in the areas of digital simulation, real-time control, parameter identification, and optimal path planning to closed-chain manipulators. The algorithms needed to realize these extensions are detailed, and the important concepts are highlighted with an example
Keywords :
dynamics; kinematics; position control; robots; D´Alembert´s principle; closed-chain robotic manipulators; digital simulation; kinematic chains; optimal path planning; parameter identification; position control; real-time control; serial robot engineering; trajectory control; Aerodynamics; Digital simulation; Equations; Lagrangian functions; Legged locomotion; Manipulator dynamics; Parameter estimation; Robot kinematics; Service robots; Vehicle dynamics;
Journal_Title :
Robotics and Automation, IEEE Transactions on
