On the closed form computation of the dynamic matrices and their differentiations

Author

Garofalo, Gianluca ; Ott, Christian ; Albu-Schaffer, Alin

Author_Institution

Inst. of Robot. & Mechatron., German Aerosp. Center (DLR), Wessling, Germany

fYear

2013

fDate

3-7 Nov. 2013

Firstpage

2364

Lastpage

2359

Abstract

In this paper we review and extend some classic results on rigid body dynamics, in order to give a symbolic expression of the different derivatives of the matrices of the dynamic model of a general tree-structured robot. In what follows the matrices are differentiated with respect to time, state and dynamic parameters. Obviously from the derivatives of the single matrices it is possible to recover the derivatives of the direct and inverse dynamic functions and classic results like the regressor matrix. Moreover an iterative algorithm is sketched which allows to compute all these derivatives as well as the kinematics and dynamics of the robot.

Keywords

iterative methods; matrix algebra; regression analysis; robot dynamics; robot kinematics; trees (mathematics); closed form computation; differentiations; direct dynamic functions; dynamic matrices; dynamic model; general tree-structured robot; inverse dynamic functions; iterative algorithm; regressor matrix; rigid body dynamics; robot dynamics; robot kinematics; single matrices; symbolic expression; Aerodynamics; Equations; Heuristic algorithms; Jacobian matrices; Joints; Mathematical model; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on

Conference_Location

Tokyo

ISSN

2153-0858

Type

conf

DOI

10.1109/IROS.2013.6696688

Filename

6696688