Recursive dynamics for geared robot manipulators
- 1 January 1990
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1983-1988 vol.3
- https://doi.org/10.1109/cdc.1990.203972
Abstract
The authors consider the dynamical modeling of robot manipulators whose joint actuators consist of motors driving the joints through gears. The dynamical models for such manipulators are significantly more complex than those for direct drive manipulators. The authors develop recursive O(n) inverse and forward dynamics algorithms as well as recursive O(n/sup 2/) algorithms for the computation of the mass matrix for geared manipulators. It is shown that, despite the added complexity of the dynamical models for geared manipulators, the algorithms closely resemble the corresponding algorithms for direct drive manipulators, and that the additional algorithmic or computational complexity is relatively insignificant. As a consequence, with little additional cost, existing direct drive algorithms can be easily extended to handle the effects of gearing at the joints.Keywords
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