Title :
A recursive algorithm for robot dynamics using Lie groups
Author :
Park, Frank C. ; Bobrow, James E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
Abstract :
We present, using standard ideas from Lie groups and Riemannian geometry, a computationally efficient recursive algorithm for the inverse dynamics of an open-chain manipulator. Our algorithm bears close resemblance to Featherstone´s (1991) approach, but is derived entirely from Lie theoretic concepts and definitions. Our geometric approach permits a high-level view of robot dynamics that emphasizes the coordinate-free aspects of the equations of motion while preserving the computational efficiency of recursive algorithms
Keywords :
Lie groups; computational geometry; dynamics; position control; robots; Lie groups; Riemannian geometry; inverse dynamics; motion control; open-chain manipulator; recursive algorithm; robot dynamics; Acceleration; Aerodynamics; Aerospace engineering; Algebra; Computational efficiency; Computational geometry; Equations; Heuristic algorithms; Manipulator dynamics; Robot kinematics;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351370