A Cartesian tensor approach for fast computation of manipulator dynamics
- 6 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1348-1353 vol.3
- https://doi.org/10.1109/robot.1988.12255
Abstract
Orthogonal second-order Cartesian tensors are used to formulated the Newton-Euler dynamic equations for a robot manipulator. Based on this formulation, an efficient recursive procedure is developed to evaluate the joint torques. The procedure is applicable to all rigid-link manipulators with open-chain kinematic structures with revolute and/or prismatic joints. For simplicity of presentation, only manipulators with (kinematically more complex) revolute joints are considered. An efficient implementation of the proposed method shows that the joint torques for a six-degree-of-freedom manipulator with revolute joint, can be computed in approximately 500 multiplications and 420 additions. For manipulators with 0 degrees or 90 degrees twist angles, the required computations are reduced to 380 multiplications and 315 additions.<>Keywords
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