An efficient method for computation of the manipulator inertia matrix

An efficient method of computation of the manipulator inertia matrix is presented. Using spatial notations, the method leads to the definition of the composite rigid-body spatial inertia, which is a spatial representation of the notion of augmented body. The previously proposed methods, the physical interpretations leading to their derivation, and their redundancies are analyzed. The proposed method achieves a greater efficiency by eliminating the redundancy in the intrinsic equations as well as by a better choice of coordinate frame for their projection. In this case, removing the redundancy leads to greater efficiency of the computation in both serial and parallel senses.<<ETX>>

[1]  E. Freund.  Fast Nonlinear Control with Arbitrary Pole-Placement for Industrial Robots and Manipulators , 1982 .

[2]  Tzyh-Jong Tarn,et al.  Robust Robot Arm Control with Nonlinear Feedback , 1985 .

[3]  Richard Paul Collins Paul,et al.  Modelling, trajectory calculation and servoing of a computer controlled arm , 1972 .

[4]  Amir Fijany,et al.  A class of parallel algorithms for computation of the manipulator inertia matrix , 1989, IEEE Trans. Robotics Autom..

[5]  Giuseppe Rodriguez,et al.  Kalman filtering, smoothing, and recursive robot arm forward and inverse dynamics , 1987, IEEE Journal on Robotics and Automation.

[6]  A. Bejczy.  Robot arm dynamics and control , 1974 .

[7]  David E. Orin,et al.  Efficient Dynamic Computer Simulation of Robotic Mechanisms , 1982 .

[8]  R. Featherstone.  The Calculation of Robot Dynamics Using Articulated-Body Inertias , 1983 .

[9]  J. Wen,et al.  New class of control laws for robotic manipulators Part 1. Non–adaptive case , 1988 .

[10]  J. Y. S. Luh,et al.  On-Line Computational Scheme for Mechanical Manipulators , 1980 .

[11]  Oussama Khatib,et al.  Dynamic control of manipulator in operational space , 1983 .

[12]  Roy Featherstone,et al.  Robot Dynamics Algorithms , 1987 .

[13]  J. Y. S. Luh,et al.  Resolved-acceleration control of mechanical manipulators , 1980 .

[14]  K. Kreutz,et al.  Recursive mass matrix factorization and inversion: An operator approach to open- and closed-chain multibody dynamics , 1988 .